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

Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces
Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces
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
AUV, tunnel thrusters, control surfaces, turning circles
Autonomous Underwater Vehicles Applications Center
Steenson, L.V.
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Phillips, A.B.
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Furlong, M.
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Rogers, E.
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Turnock, S.R.
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Steenson, L.V.
86073c5a-69e6-4764-91ae-d764a5cef06b
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Furlong, M.
332e9aef-8c6b-452f-8b85-712492767458
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce

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. Autonomous Underwater Vehicles Applications Center. 9 pp .

Record type: Conference or Workshop Item (Paper)

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

Text
UUST11_-Maneuvering_of_an_Over-Actuated_Autonomous_Underwater_Vehicle_using_both_Through-Body_Tunnel_Thrusters_and_Control_Surfaces_-_Leo_Steenson.pdf - Author's Original
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More information

Published date: 21 August 2011
Venue - Dates: 17th International Undersea Untethered Submersible Technology Conference, Portsmouth, United States, 2011-08-20 - 2011-08-23
Related URLs:
Keywords: AUV, tunnel thrusters, control surfaces, turning circles
Organisations: Ocean Technology and Engineering, Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 207875
URI: http://eprints.soton.ac.uk/id/eprint/207875
PURE UUID: b2536c24-e4a5-4478-a068-d6b762737a9b
ORCID for A.B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for E. Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for S.R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400

Catalogue record

Date deposited: 18 Jan 2012 11:27
Last modified: 23 Sep 2020 01:36

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