A simplified dynamics model for autonomous underwater vehicles
A simplified dynamics model for autonomous underwater vehicles
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DOI：
10.1109/auv.1996.532437
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发表时间：
1996-06
期刊：
影响因子：
--
通讯作者：
M. Nahon
中科院分区：
文献类型：
--
作者：
M. Nahon
本文讨论了流线型水下航行器简化动力学模型的推导和验证。该模型的导出形式仅需要指定车辆的几何形状以及其组成元件的升力和阻力特性。车辆被分解为这些元素，包括船体、单独的控制面和推进系统。作用在车辆上的力和力矩是通过分量效应的总和来确定的，并使用修正因子来考虑干扰效应。由于该模型不是线性化的，因此它保留了车辆的基本非线性行为。通过将模型结果与现有 AUV 上测量的结果进行比较来验证该方法。
This paper deals with the derivation and validation of a simplified dynamics model for streamlined underwater vehicles. The model is derived in a form which only requires the specification of the vehicle's geometry, and the lift and drag characteristics of its constituent elements. The vehicle is decomposed into these elements, including hull, individual control surfaces, and propulsion system. The forces and moments acting on the vehicle are determined through a summation of the component effects, with correction factors to account for interference effects. Because the model is not linearized, it retains the vehicle's fundamental nonlinear behaviour. The approach is validated by comparing the model results to those measured on an existing AUV.