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首页> 外文会议>International Conference on Robot Intelligence Technology and Applications >Dynamic Modelling and Control of a Compact Autonomous Underwater Vehicle
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Dynamic Modelling and Control of a Compact Autonomous Underwater Vehicle

机译：紧凑型自主水下车辆的动态建模与控制

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This paper presents the dynamic modelling and control of a developed compact autonomous underwater vehicle (AUV), which has a closed frame, neutrally buoyant, a three-part modular structure made up of glass fibre composite material. The robot uses three fix position bi-directional thrusters for propulsion, out of which two thrusters are used for horizontal planar motion and the third one is used for vertical motion. A detailed 3D model of the AUV has been developed using the CAD modelling software SOLIDWORKS to determine the system parameters. Kinematic analysis has been carried out to correlate the local and global position, velocity and acceleration of the AUV. Computational fluid dynamics (CFD) software ANSYS Fluent is used for boundary layer study to determine the hydrodynamic parameters. Using the kinematic and hydrodynamic parameters a six degrees of freedom (DOF) dynamic model is developed. With appropriate assumptions, the complex 6 DOF coupled non-linear dynamic model is simplified to a 4 DOF model. A closed-loop PD controller is developed using the partitioning law and the system dynamic model, which is simulated using MATLAB Simulink. A 3D guidance system is developed to follow path generated by waypoint technique using Line-of-Sight (LOS) strategy. This work will find application in the navigation of the AUV in a predefined path.
机译：本文介绍了型紧凑型自主水下车辆（AUV）的动态建模和控制，其具有封闭的框架，中性浮力，由玻璃纤维复合材料构成的三部分模块化结构。机器人使用三个固定位置双向推动器进行推进，其中两个推进器用于水平平面运动，并且第三个用于垂直运动。使用CAD建模软件SolidWorks开发了一个详细的AUV模型，以确定系统参数。进行了运动分析，以与AUV的局部和全球位置，速度和加速相关联。计算流体动力学（CFD）软件ANSYS流畅用于边界层研究以确定流体动力学参数。使用运动学和流体动力学参数，开发了六个自由度（DOF）动态模型。通过适当的假设，复合6 DOF耦合的非线性动态模型被简化为4 DOF模型。使用Patlab Simulink模拟的分区法和系统动态模型开发了闭环PD控制器。开发了一种3D引导系统以遵循使用视图（LOS）策略的航点技术产生的路径。这项工作将在预定义路径中找到AUV的导航中的应用。

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