Simulation and Modeling of a Soft Grounding System for an AUV

Abstract

Energy storage is very limited in AUV's. To assist with energy management, data gathering missions have been proposed where the vehicle should sit on the bottom and gather acoustic/video/chemical data over extended periods of time. In this grounding scenario while thrusters may be used, they are less desirable because of their high energy consumption and restricted use close to the ocean floor. The purpose of this work is to study a low cost, simple soft grounding capability for a submersible vehicle using controllable ballast. The ballast system based on the NPS Phoenix AUV is designed to control weight addition into or out of two ballast tanks. The developed control law adjusts the pump flow rate keeping the pitch angle and depth rate within the limits. Results for a soft grounding operation have been obtained using simulation.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1999
Accession Number
ADA366791

Entities

People

  • Bahadir Beyazay

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Energy and Power Technologies
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Airships
  • Autonomous Underwater Vehicles
  • Ballast Tanks
  • Control Surfaces
  • Control Systems
  • Differential Equations
  • Energy Management
  • Energy Storage
  • Engineering
  • Flow Rate
  • Mechanical Engineering
  • Seabed
  • Simulations
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Energy Conservation and Renewable Energy Engineering.
  • Naval Architecture and Marine Engineering.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Hall-Effect Thruster
  • Space - Spacecraft Maneuvers