The knowledge of dynamic models to describe the behaviors of unmanned underwater vehicles allows to design a precise navigation, guidance, and control system. A practical identification strategy is presented in this contribution, a procedure that can be easily executed during field trials and that is able to obtain a rapid assessment about the characteristics of the vehicle dynamic model. The developed procedure is designed for small-size-class remotely operated vehicles, characterized by low operative speeds. The vehicle is equipped with proprioceptive sensors in charge of measuring data needed to identify its dynamic model. Building on the proposed practical identification experiments, different vehicle propulsion models are considered and analyzed: the first is a general theoretical model accounting for the vehicle hydrodynamics (standard marine Fossen model); the others are modified models introducing additional terms in the produced thrust (torque), namely, a term proportional to the rate of change of the propeller revolutions per minute (r.p.m.), n ˙ ( t ) (where n is the revolution rate of the propeller), and a delayed copy of the terms connected to the fluid axial flow velocity. For all considered degrees of freedom, the fitting performance of the proposed models resulted to be superior to the first. Moreover, a control system building on the obtained dynamic characterization is described.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Analysis of an Unmanned Underwater Vehicle Propulsion Model for Motion Control


    Contributors:

    Published in:

    Publication date :

    2022-06-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Vector control propulsion unmanned underwater vehicle

    QIU FUSHENG / QU XIAO / LIU KUIWU et al. | European Patent Office | 2024

    Free access

    Vector propulsion type underwater unmanned vehicle

    HU QIAO / TONG BAOCHENG / ZHANG TANGJIA et al. | European Patent Office | 2021

    Free access

    Motion Control of Three-Rotor Unmanned Underwater Vehicle

    Bal, Cafer / Korkmaz, Deniz / Bingol, Mustafa Can | Springer Verlag | 2017


    PULSED POWER HYBRID ELECTRIC UNMANNED UNDERWATER VEHICLE PROPULSION SYSTEM

    HIMMELMANN RICHARD A | European Patent Office | 2023

    Free access

    PULSED POWER HYBRID ELECTRIC UNMANNED UNDERWATER VEHICLE PROPULSION SYSTEM

    HIMMELMANN RICHARD A | European Patent Office | 2018

    Free access