Manoeuvring-based actuation evaluation of an AUV with control surfaces and through-body thrusters
Manoeuvring-based actuation evaluation of an AUV with control surfaces and through-body thrusters
For an autonomous underwater vehicle (AUV), control surfaces are usually used for high-speed manoeuvres, while at low speed the AUV relies upon through-body thrusters for manoeuvring. In this paper, the speed intervals of high-speed and low-speed manoeuvres are quantitatively analyzed. To this end, the AUV's dynamics equations composed of body hydrodynamics and actuator models are first established with specific regard to operation at different speeds. Resorting to the above complete dynamics model, turning manoeuvring tests are carried out to forecast the AUV's advance and turning time at different speeds. Initial turning ability criterion approved by International Maritime Organization is then used to calculate thresholds for low-speed and high-speed manoeuvres. Due to non-overlap, the entire speed profile is divided into low-speed, medium-speed and high-speed intervals, where different actuator combinations and characteristics are analyzed. Finally, a smooth switching law is designed to manage the contribution of two types of actuators through the entire AUV's speed profile.
Actuation evaluation, Autonomous underwater vehicles, Manoeuvring test, Unified control
1-7
Xiang, Xianbo
2c3f0b4c-9064-43f9-9b6b-1cadac6f2ccc
Yu, Caoyang
1ad58b98-d487-4acc-b6b8-03936db08ca3
Zhang, Qin
1df8aa4f-7c2a-496e-bd34-5dba56bce002
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Xua, Guohua
338fe1ce-3697-4180-8dd8-c4dbadca9609
March 2020
Xiang, Xianbo
2c3f0b4c-9064-43f9-9b6b-1cadac6f2ccc
Yu, Caoyang
1ad58b98-d487-4acc-b6b8-03936db08ca3
Zhang, Qin
1df8aa4f-7c2a-496e-bd34-5dba56bce002
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Xua, Guohua
338fe1ce-3697-4180-8dd8-c4dbadca9609
Xiang, Xianbo, Yu, Caoyang, Zhang, Qin, Wilson, Philip and Xua, Guohua
(2020)
Manoeuvring-based actuation evaluation of an AUV with control surfaces and through-body thrusters.
Applied Ocean Research, 96, , [102046].
(doi:10.1016/j.apor.2019.102046).
Abstract
For an autonomous underwater vehicle (AUV), control surfaces are usually used for high-speed manoeuvres, while at low speed the AUV relies upon through-body thrusters for manoeuvring. In this paper, the speed intervals of high-speed and low-speed manoeuvres are quantitatively analyzed. To this end, the AUV's dynamics equations composed of body hydrodynamics and actuator models are first established with specific regard to operation at different speeds. Resorting to the above complete dynamics model, turning manoeuvring tests are carried out to forecast the AUV's advance and turning time at different speeds. Initial turning ability criterion approved by International Maritime Organization is then used to calculate thresholds for low-speed and high-speed manoeuvres. Due to non-overlap, the entire speed profile is divided into low-speed, medium-speed and high-speed intervals, where different actuator combinations and characteristics are analyzed. Finally, a smooth switching law is designed to manage the contribution of two types of actuators through the entire AUV's speed profile.
Text
APOR2019720
- Accepted Manuscript
More information
Accepted/In Press date: 29 December 2019
e-pub ahead of print date: 16 January 2020
Published date: March 2020
Additional Information:
Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grants 51579111 , 51209100 and 51909161 , in part by the Shenzhen Science and Technology Plan Project under Grant JCYJ201704I311305468 , in part by the International Exchanges of the UK Royal Society under Grant IE161588, in part by the Shanghai Sailing Program under Grant 19YF1424100, and in part by the Startup Fund for Youngman Research at Shanghai Jiao Tong University under Grant 19X100040001 .
Publisher Copyright:
© 2020 Elsevier Ltd
Keywords:
Actuation evaluation, Autonomous underwater vehicles, Manoeuvring test, Unified control
Identifiers
Local EPrints ID: 436944
URI: http://eprints.soton.ac.uk/id/eprint/436944
ISSN: 0141-1187
PURE UUID: 51410315-88e5-43e9-9377-099b69e24fdf
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Date deposited: 14 Jan 2020 17:31
Last modified: 17 Mar 2024 05:12
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Contributors
Author:
Xianbo Xiang
Author:
Caoyang Yu
Author:
Qin Zhang
Author:
Guohua Xua
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