NDLI: Nonlinear dynamics modeling and performance prediction for underactuated AUV with fins

Content Provider	Springer Nature Link
Author	Liang, Xiao Li, Ye Peng, Zhouhua Zhang, Jundong
Copyright Year	2015
Abstract	The application of autonomous underwater vehicles (AUV) is widespread with the development of the activities in deep ocean. For low energy consumption, low resistance and excellent maneuverability, fins are usually used to modify AUV hydrodynamic forces. The underactuated AUV can do gyratory motion by vertical fins and do diving and rising motion by horizontal fins. However, the modeling and performance prediction for the underactuated AUV with fins have not been solved well. We build the dynamics and kinematics model in 6-DOF for the underactuated AUV with fins and analyze the forces and hydrodynamic coefficients in detail, especially the fin effect. Various hull hydrodynamic coefficients are obtained by CFD numerical computation. A series of simulation experiments are conducted to predict AUV hydrodynamic performance, and the feasibility and accuracy are verified by comparing the results on WL-II underactuated AUV in ocean experiments.
Starting Page	237
Ending Page	249
Page Count	13
File Format	PDF
ISSN	0924090X
Journal	Nonlinear Dynamics
Volume Number	84
Issue Number	1
e-ISSN	1573269X
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-10-29
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Underactuated AUV Dynamics modeling Performance prediction Fins CFD numerical computation Vibration, Dynamical Systems, Control Mechanics Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Applied Mathematics Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Aerospace Engineering

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