A Practical Hydrodynamic-based Model of AUV Thruster Dynamics for Use in Closed-loop Control of Vehicle Motions

Abstract

LONG-TERM GOALS. The long-term objective of this research program is to improve the automatic control of autonomous underwater vehicles (AUV) through the incorporation of thruster hydrodynamics into control algorithms. OBJECTIVES. The scientific and technical objectives of this research are to develop an accurate hydrodynamic model of an AUV thruster, incorporate the model into a vehicle control system, and demonstrate accurate closed-loop thruster control in unsteady conditions. Previous, research on propeller modeling has centered almost exclusively on in-flows that are steady in time but vary spatially. This research focuses on the temporally varying hydrodynamics caused by changes in the thruster s angular velocity. These conditions are typical of an underwater vehicle that is maneuvering or holding position in a current.

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Document Details

Document Type
Technical Report
Publication Date
Sep 30, 1997
Accession Number
ADA635245

Entities

People

  • Louis L. Whitcomb
  • Mark A. Grosenbaugh

Organizations

  • Woods Hole Oceanographic Institution

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Control Systems
  • Dynamics
  • Engineering
  • Flow
  • Fluid Dynamics
  • Fluid Flow
  • Hydrodynamics
  • Marine Thrusters
  • Mechanical Engineering
  • Model Basins
  • Physics
  • Simulations
  • Steady State
  • Test Facilities
  • Thrusters
  • Underwater Vehicles

Readers

  • Aerospace Propulsion Engineering.
  • Ocean-Atmosphere Mesoscale Modeling, Data Assimilation, and Flux Boundary Layers
  • Robotics and Automation.

Technology Areas

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