Title :
Analytical formulation of AUV unpowered diving steady motion
Author :
Zhengyuan, Liu ; Qinan, Xu ; Tao, Liu ; JianPing, Chen
Author_Institution :
China Ship Sci. Res. Center, China
Abstract :
The mathematical model of AUV unpowered diving motion was modeled on the basis of an unpowered unrestrained model test. By analyzing the characteristics of the steady motion, it can be concluded that the diving depth rate Uz and trimming angle θ are important parameters to describe the steady motion. The analytical expressions of the diving depth rate Uz and trimming angle θ are obtained, then Uz and θ can be determined quickly and precisely. This method provides great convenience in practical applications
Keywords :
mobile robots; underwater vehicles; AUV unpowered diving steady motion; diving depth rate; trimming angle; unpowered unrestrained model test; Analytical models; Electronic ballasts; Marine vehicles; Mathematical model; Mobile robots; Motion analysis; Remotely operated vehicles; Testing; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Underwater Technology, 2000. UT 00. Proceedings of the 2000 International Symposium on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-6378-7
DOI :
10.1109/UT.2000.852537
