Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces


Steenson, L.V., Phillips, A.B., Furlong, M., Rogers, E. and Turnock, S.R. (2011) Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces. In, 17th International Undersea Untethered Submersible Technology Conference. Lee, United States, Autonomous Underwtaer Vehicles Applications Center.

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Description/Abstract

The maneuvering performance of an over-actuated AUV (2m long, 254mm diameter) has been tested operating on the free surface (97% displacement submerged). Straight line speed tests and turning circle tests have been performed. Both rear control surfaces and through-body tunnel thrusters were used to maneuver the vehicle. The turning circle diameter, turning rate and forward velocity data is presented with rudder, thruster and hybrid tests. The rudder actuated turning diameters (TD) reduced as forward speed increased. The thruster actuated TD are smaller than the rudder actuated and the TD for thruster actuated increases with forward speed. For the smallest TD, a hybrid system using both the rudders and thrusters were used. An inverse open loop control algorithm is presented that delegates actuator set-points for a given propeller set-point and TD

Item Type: Book Section
Related URLs:
Keywords: AUV, tunnel thrusters, control surfaces, turning circles
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: Faculty of Engineering and the Environment > Civil, Maritime and Environmental Engineering and Science > Fluid / Structure Interactions Research
National Oceanography Centre (NERC) > Ocean Technology and Engineering
ePrint ID: 207875
Date Deposited: 18 Jan 2012 11:27
Last Modified: 27 Mar 2014 19:49
Publisher: Autonomous Underwtaer Vehicles Applications Center
URI: http://eprints.soton.ac.uk/id/eprint/207875

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