Dynamics and control of a towed underwater vehicle system, part I: model development
Dynamics and control of a towed underwater vehicle system, part I: model development
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DOI：
10.1016/s0029-8018(02)00029-x
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发表时间：
2003-03-01
影响因子：
5
通讯作者：
Lambert, C
中科院分区：
文献类型：
--
作者：
Buckham, B;Nahon, M;Lambert, C
自主式车辆正在被研发，以取代牵引猎雷拖曳平台的传统有人驾驶水面车辆。虽然有大量工作描述了拖曳系统的数值模型，但它们通常包含相对简单的被拖曳体模型，且忽略了牵引车辆的动力学。对于牵引车辆质量与被牵引车辆质量相当的系统，考虑两者的动力学就变得很重要。在这项工作中，我们描述了一种能精确捕捉这些新型猎雷系统动力学的数值模型的开发。我们对拖缆采用集中质量近似，并将该模型与自主式水面车辆和主动控制的拖鱼的非线性数值模型相结合。在这两种车辆的动力学模型中，我们包含了非线性控制器，以实现拖曳系统的精确操控。（C）2002爱思唯尔科学有限公司。保留所有权利。
Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles, In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system. (C) 2002 Elsevier Science Ltd. All rights reserved.