Title :
Maneuvering simulation for water-jet propulsion unmanned surface vehicle
Author :
Huang, Shuling ; Xu, Yuru ; Pang, Yongjie ; Zhang, Tiedong ; Wu, Gongxing
Author_Institution :
Nat. Defence Key Lab. of Autonomous Underwater Vehicle Technol., Harbin Eng. Univ., Harbin, China
Abstract :
According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Momentum theorem was used to establish the model of the water-jet propulsion. With the mathematic model and USV shape model, the physical simulation model of USV is programmed by VC++6.0 in association with Vega. Finally, simulation experiments were done in different initial conditions. Results show that the proposed motion model can predict the maneuverability of USV.
Keywords :
hydrodynamics; jet engines; marine propulsion; mobile robots; remotely operated vehicles; ships; VC++6.0; Vega; buoyancy; dynamic lift force; four-degree of freedom maneuvering motion equation; gravity; inertial hydrodynamic force; maneuvering simulation; mathematic model; momentum theorem; physical simulation model; shape model; unmanned surface vehicle; viscous hydrodynamic force; water-jet force; water-jet propulsion; Gravity; Hydrodynamics; Mathematical model; Propulsion; Turning; Vehicles; maneuverability; unmanned surface vehicle(USV); visual simulation; water-jet propulsion;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
DOI :
10.1109/ICIEA.2011.5975876