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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
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 interval-s 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 inter-vals, 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.
0141-1187
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
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, 1-7, [102046]. (doi:10.1016/j.apor.2019.102046).

Record type: Article

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 interval-s 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 inter-vals, 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.

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APOR2019720 - Accepted Manuscript
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Accepted/In Press date: 29 December 2019
e-pub ahead of print date: 16 January 2020
Published date: March 2020

Identifiers

Local EPrints ID: 436944
URI: http://eprints.soton.ac.uk/id/eprint/436944
ISSN: 0141-1187
PURE UUID: 51410315-88e5-43e9-9377-099b69e24fdf
ORCID for Philip Wilson: ORCID iD orcid.org/0000-0002-6939-682X

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Date deposited: 14 Jan 2020 17:31
Last modified: 18 Feb 2021 16:35

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Contributors

Author: Xianbo Xiang
Author: Caoyang Yu
Author: Qin Zhang
Author: Philip Wilson ORCID iD
Author: Guohua Xua

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