Modeling and simulation of SAUV vectored thruster on dynamics

Author

Zhang, Yu ; Yang, Kuo

Author_Institution

Sch. of Mech. Eng., Shenyang Univ. of Technol., Shenyang, China

fYear

2011

fDate

16-18 Sept. 2011

Firstpage

1112

Lastpage

1116

Abstract

To providing an effective thruster for Solar-powered Autonomous Underwater Vehicle (SAUV), a new-style vectored thruster is proposed. According to Lagrange equation, the dynamics equation of vectored thruster is attained. Through designing solid model of vectored thruster with 3D model software and analyzing dynamics equation of vectored thruster with ADAMS, the characteristics of kinematics and dynamics of the thruster are acquired and then the problem of additionally turning motion caused by rolling motion of vectored thruster is resolved. The design theory and parameters of SAUV vectored thruster will be supplied by above-mentioned research.

Keywords

digital simulation; marine propulsion; mobile robots; remotely operated vehicles; solar powered vehicles; solid modelling; underwater vehicles; 3D model software; ADAMS; Lagrange equation; SAUV vectored thruster; dynamics equation; solar-powered autonomous underwater vehicle; thruster dynamics; thruster kinematics; vectored thruster solid model design; Angular velocity; Dynamics; Gears; Load modeling; Mathematical model; Shafts; Torque; ADAMS; Lagrange Equation; SAUV; Vectored thruster;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2011 International Conference on

Conference_Location

Yichang

Print_ISBN

978-1-4244-8162-0

Type

conf

DOI

10.1109/ICECENG.2011.6057956

Filename

6057956