|Table of Contents|

Citation:
　WANG Bo*,WAN Lei,XU Yu-ru and QIN Zai-bai.Modeling and simulation of a mini AUV in spatial motion[J].Journal of Marine Science and Application,2009,(1):7-12.
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Modeling and simulation of a mini AUV in spatial motion

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Title:
Modeling and simulation of a mini AUV in spatial motion
Author(s):
WANG Bo*;  WAN Lei;  XU Yu-ru and QIN Zai-bai
Affilations:
Author(s):
WANG Bo*;  WAN Lei;  XU Yu-ru and QIN Zai-bai
State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
Keywords:
AUV;  kinematics model;  dynamics model;  motion control;  simulation
分类号:
-
DOI:
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Abstract:
Accurate modeling and simulation of autonomous underwater vehicle (AUV) is essential for autonomous control and maneuverability research. In this paper, a mini AUV? “MAUV-Ⅱ” was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of “MAUV-Ⅱ”, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the “MAUV-Ⅱ” has good spatial maneuverability, and verify the feasibility and reliability of control software.

References:

[1] TIMOTHY P. Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle: oceans[C]// MTS/IEEE Conference and Exhibition. Honolulu, 2001: 450-455.
[2] SU Yumin, WAN Lei, LI Ye, et al. Development of a small autonomous underwater vehicle controlled by thrusters and fins[J]. Robot, 2007, 29(2): 151-154.
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[4] LIU Xuemin, XU Yuru. S control of automatic underwater vehicle[J]. Ocean Engineering, 2001, 19(3): 81-84.
[5] LI Ye, LIU Jiancheng, SHEN Mingxue. Dynamics model of underwater robot motion control in 6 degrees of freedom[J]. Journal of Harbin Institute of Technology, 2005, 12(4): 456-459.
 [6] LI Dianpu. Ship motion and modeling[M]. Harbin: Harbin Engineering University Press, 1999.
[7] GONG Zhuorong, ZHU Hengjun. Vega Programing[M]. Beijing: National Defense Industry Press, 2002. WANG Bo was born in 1982. He received his M.S. degree in the Design and Construction of Naval Architecture from Harbin Engineering University in 2008. Now he works toward his PhD degree in the Design and Construction of Naval Architecture at Harbin Engineering University. His research interests include control and simulation of underwater vehicles.

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Last Update: 2010-04-19