标题:Dynamic modeling and performance analysis of an autonomous underwater vehicle
作者:Chen, Yuan ;Zhang, Rongmin ;Gao, Jun
作者机构:[Chen, Yuan ;Zhang, Rongmin ;Gao, Jun ] School of Mechanical, Electrical and Information Engineering, Shandong University at Weihai, Weihai; 264200, C 更多
会议名称:2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
会议日期:August 8, 2015 - August 10, 2015
来源:2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
出版年:2015
页码:1800-1803
DOI:10.1109/ICInfA.2015.7279579
摘要:This paper mainly deals with the maneuverability capabilities of the propeller-fin-driven underwater vehicle. The nonlinear dynamic model is firstly set up, numerical simulations of kinematic behaviors in the horizontal plane, vertical plane and three-dimensional space are performed respectively to verify the nonlinear dynamic model. Then, Z-shaped steering method with a positive and identical negative fin angle is also applied to detect the maneuverability of underwater vehicle. Finally simulation results demonstrate that the nonlinear dynamic modeling and decoupling methods achieve better maneuverability and steering performance of the underwater vehicle.
© 2015 IEEE.
收录类别:EI
资源类型:会议论文
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