Modelling and control of underwater inspection vehicle for aquaculture sites
Modelling and control of underwater inspection vehicle for aquaculture sites
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水产养殖场水下巡检车建模与控制
DOI：
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发表时间：
2012
期刊：
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通讯作者：
Mats Nåvik Hval
中科院分区：
文献类型：
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作者：
Mats Nåvik Hval
具有悬停能力的水下航行器，如auv和rov，是一种很有前途的方法，用于大型海上鲑鱼养殖场的渔网完整性检查。鲑鱼养殖场的位置导致水下航行器受到强烈的潮流和波浪的影响。本文针对小型工作型水下机器人“阿格斯水手”，建立了一种结合耐波理论和机动理论的六自由度统一过程装置模型。利用WAMIT软件，求出了水动力势系数和波浪感应力和力矩。开发了动态网箱模型遍历的基本控制系统。该模型和控制系统在SINTEF渔业和水产养殖公司开发的FhSim仿真环境中实现。
Underwater vehicles such as AUVs and ROVs with hovering capabilities is a promising method for inspection of net integrity in large scale, sea based, salmon farms. The location of the salmon farms cause underwater vehicles to be affected by strong tidal currents and waves. In this thesis a six degree of freedom unified process plant model combining seakeeping theory and maneuvering theory for a small work ROV called Argus Mariner is developed. Using the software WAMIT, the hydrodynamic potential coefficients and wave induced forces and moments are found. A basic control system for traversing a dynamic netcage model is developed. The models and control system are implemented in a simulation environment called FhSim developed by SINTEF Fishery and Aquaculture AS.