Dynamic Analysis of Landing Autonomous Underwater Vehicle
In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the A...
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| Published in | Transactions of Tianjin University Vol. 18; no. 4; pp. 298 - 304 |
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| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
Heidelberg
Tianjin University
01.08.2012
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1006-4982 1995-8196 |
| DOI | 10.1007/s12209-012-1808-4 |
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| Abstract | In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the AUV, the dynamic analysis of the landing AUV is presented in this paper. Based on the momentum theorem and the angular momentum theorem, the dynamic model of the landing AUV is derived. The simulations of rectilinear motion, rotary motion and helix motion indicate the dynamic behaviors of the AUV. The ocean experiments validate the dynamic model presented in this pa- per. The experiments also verify that the landing AUV can work for a longer time than common AUVs. |
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| AbstractList | In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the AUV, the dynamic analysis of the landing AUV is presented in this paper. Based on the momentum theorem and the angular momentum theorem, the dynamic model of the landing AUV is derived. The simulations of rectilinear motion, rotary motion and helix motion indicate the dynamic behaviors of the AUV. The ocean experiments validate the dynamic model presented in this pa- per. The experiments also verify that the landing AUV can work for a longer time than common AUVs. In autonomous underwater vehicles (AUVs) the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while monitoring the ocean. In order to study the dynamic behaviors for better control of the AUV, the dynamic analysis of the landing AUV is presented in this paper. Based on the momentum theorem and the angular momentum theorem, the dynamic model of the landing AUV is derived. The simulations of rectilinear motion, rotary motion and helix motion indicate the dynamic behaviors of the AUV. The ocean experiments validate the dynamic model presented in this paper. The experiments also verify that the landing AUV can work for a longer time than common AUVs. |
| Author | 杜兵 蒋永翔 张宏伟 |
| AuthorAffiliation | School of Mechanical Engineering, Tianjin University, Tianjin 300072, China; School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China |
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| Cites_doi | 10.1080/00207170701222921 10.1016/j.oceaneng.2008.12.005 10.1016/j.oceaneng.2008.07.009 10.1007/s13344-011-0008-7 10.1007/BF00141159 10.1111/j.1559-3584.1992.tb02238.x 10.1109/48.972113 10.1016/j.oceaneng.2008.07.012 10.1109/48.838986 10.1109/ICMA.2009.5244851 10.1109/OCEANSSYD.2010.5603850 10.1109/ICMEE.2010.5558474 10.1109/ICMA.2011.5985857 |
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| Keywords | dynamic analysis landing AUV dynamic modeling power requirement |
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| Notes | 12-1248/T landing AUV; power requirement; dynamic analysis; dynamic modeling In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which conserves energy by sitting on the seafloor while moni- toring the ocean. In order to study the dynamic behaviors for better control of the AUV, the dynamic analysis of the landing AUV is presented in this paper. Based on the momentum theorem and the angular momentum theorem, the dynamic model of the landing AUV is derived. The simulations of rectilinear motion, rotary motion and helix motion indicate the dynamic behaviors of the AUV. The ocean experiments validate the dynamic model presented in this pa- per. The experiments also verify that the landing AUV can work for a longer time than common AUVs. |
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| References_xml | – volume: 80 start-page: 1018 issue: 7 year: 2007 end-page: 1026 ident: CR11 article-title: Control and navigation of the variable buoyancy AUV for underwater landing and takeoff[J] publication-title: International Journal of Control doi: 10.1080/00207170701222921 – ident: CR14 – ident: CR15 – ident: CR13 – volume: 36 start-page: 1 issue: 1 year: 2009 ident: CR1 article-title: Autonomous underwater vehicles[J] publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2008.12.005 – ident: CR9 – volume: 36 start-page: 2 issue: 1 year: 2009 end-page: 14 ident: CR2 article-title: Development of the AUV’ ISiMI’ and a free running test in an Ocean Engineering Basin[J] publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2008.07.009 – volume: 25 start-page: 97 issue: 1 year: 2011 end-page: 112 ident: CR12 article-title: Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider[J] publication-title: China Ocean Engineering doi: 10.1007/s13344-011-0008-7 – ident: CR6 – volume: 3 start-page: 269 issue: 2/3 year: 1996 end-page: 283 ident: CR10 article-title: A dynamic model of an underwater vehicle with a robotic manipulator using Kane’s method[J] publication-title: Autonomous Robots doi: 10.1007/BF00141159 – year: 2001 ident: CR7 publication-title: Autonomous Underwater Vehicle: Vision and Control [D] – volume: 104 start-page: 191 issue: 3 year: 1992 end-page: 202 ident: CR4 article-title: The NPS AUVII autonomous underwater vehicle testbed: Design and experimental verification[ J] publication-title: Naval Engineers Journal doi: 10.1111/j.1559-3584.1992.tb02238.x – volume: 26 start-page: 700 issue: 4 year: 2001 end-page: 710 ident: CR5 article-title: A passive sonar system based on an autonomous underwater vehicle[ J] publication-title: IEEE Journal of Oceanic Engineering doi: 10.1109/48.972113 – volume: 36 start-page: 62 issue: 1 year: 2009 end-page: 73 ident: CR3 article-title: Increasing underwater vehicle autonomy by reducing energy consumption[ J] publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2008.07.012 – volume: 25 start-page: 227 issue: 2 year: 2000 end-page: 240 ident: CR8 article-title: Modeling and identification of open-frame variable configuration unmanned underwater vehicles[J] publication-title: IEEE Journal of Oceanic Engineering doi: 10.1109/48.838986 – ident: 1808_CR15 – volume: 36 start-page: 62 issue: 1 year: 2009 ident: 1808_CR3 publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2008.07.012 – volume: 25 start-page: 97 issue: 1 year: 2011 ident: 1808_CR12 publication-title: China Ocean Engineering doi: 10.1007/s13344-011-0008-7 – volume: 3 start-page: 269 issue: 2/3 year: 1996 ident: 1808_CR10 publication-title: Autonomous Robots doi: 10.1007/BF00141159 – ident: 1808_CR14 doi: 10.1109/ICMA.2009.5244851 – ident: 1808_CR6 doi: 10.1109/OCEANSSYD.2010.5603850 – volume: 80 start-page: 1018 issue: 7 year: 2007 ident: 1808_CR11 publication-title: International Journal of Control doi: 10.1080/00207170701222921 – volume: 36 start-page: 2 issue: 1 year: 2009 ident: 1808_CR2 publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2008.07.009 – volume: 104 start-page: 191 issue: 3 year: 1992 ident: 1808_CR4 publication-title: Naval Engineers Journal doi: 10.1111/j.1559-3584.1992.tb02238.x – volume-title: Autonomous Underwater Vehicle: Vision and Control [D] year: 2001 ident: 1808_CR7 – ident: 1808_CR9 doi: 10.1109/ICMEE.2010.5558474 – volume: 25 start-page: 227 issue: 2 year: 2000 ident: 1808_CR8 publication-title: IEEE Journal of Oceanic Engineering doi: 10.1109/48.838986 – volume: 26 start-page: 700 issue: 4 year: 2001 ident: 1808_CR5 publication-title: IEEE Journal of Oceanic Engineering doi: 10.1109/48.972113 – volume: 36 start-page: 1 issue: 1 year: 2009 ident: 1808_CR1 publication-title: Ocean Engineering doi: 10.1016/j.oceaneng.2008.12.005 – ident: 1808_CR13 doi: 10.1109/ICMA.2011.5985857 |
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| Snippet | In autonomous underwater vehicles （AUVs） the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed,... In autonomous underwater vehicles (AUVs) the onboard power used to complete missions is limited. To solve this problem, a landing AUV has been designed, which... |
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| SubjectTerms | AUV Engineering Humanities and Social Sciences Mechanical Engineering multidisciplinary Science 动态模型 动态行为 模拟显示 直线运动 自主水下航行器 自治水下机器人 角动量定理 |
| Title | Dynamic Analysis of Landing Autonomous Underwater Vehicle |
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