Modelling tunnel thrusters for autonomous underwater vehicles

Palmer, A., Hearn, G.E. and Stevenson, P. (2008) Modelling tunnel thrusters for autonomous underwater vehicles. In, Navigation, Guidance and Control of Underwater Vehicles (NGCUV'08), Killaloe, Co. Clare, Ireland, 08 - 10 Apr 2008. University of Limerick, International Federation of Automatic Control (IFAC)6pp.


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With 900 Autonomous Underwater Vehicles (AUVs) required over the next decade (Newman et al., 2007) existing survey-style AUVs need improved utilization factors. Additional control devices to extend operational capability need consideration together with the interchange between AUV control approaches. This paper considers supplementary through-body tunnel thruster control during the transition from survey operation to low-speed manoeuvring. Modified manoeuvring equations permit investigation of energy level demands as a positively buoyant AUV is slowed down from cruising speed to maintaining a stationary position. A suitable model of the selected thruster device is proposed following a literature review of tunnel thruster performance.

Item Type: Conference or Workshop Item (Paper)
Related URLs:
Keywords: autonomous vehicles, marine systems, propulsion control, manoeuvrability, mathematical Models, Simulation.
Subjects: V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
V Naval Science > V Naval Science (General)
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences
University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
University Structure - Pre August 2011 > National Oceanography Centre (NERC)
ePrint ID: 54810
Accepted Date and Publication Date:
8 April 2008Published
11 January 2008Submitted
Date Deposited: 04 Aug 2008
Last Modified: 31 Mar 2016 12:34

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