A simplified dynamics modeling of a spherical underwater vehicle

Author

Lin, Xichuan ; Guo, Shuxiang ; Hao, Yanling ; Ye, Xiufen ; Qiu, Chenguang ; Du, Juan

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

1140

Lastpage

1145

Abstract

This paper proposes a spherical underwater vehicle which is propelled by water-jetted motors. It has many characteristics such as small size, light weight, flexibility of motion and noiselessness. In this paper, the dynamics model of the vehicle is analysed according to its design; and the vehicle´s dynamics model is developed. The dynamics model of propellers for the vehicle is also analysed for modeling. For the sake of simplification, only two hydrodynamic damping forces are taken into account when dealing with this spherical underwater vehicle. Dynamics modeling is simplified according to the architecture and kinematic characteristics of this spherical underwater vehicle.

Keywords

damping; hydrodynamics; propellers; underwater vehicles; vehicle dynamics; hydrodynamic damping forces; simplified dynamics modeling; spherical underwater vehicle; water-jetted motors; Automotive engineering; Damping; Equations; Hydrodynamics; Kinematics; Propulsion; Robotics and automation; Testing; Underwater vehicles; Vehicle dynamics; added mass; dynamics equation; lineal damping; quadratic damping; spherical underwater vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913161

Filename

4913161