Modelling tunnel thrusters for autonomous underwater vehicles
Modelling tunnel thrusters for autonomous underwater vehicles
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.
autonomous vehicles, marine systems, propulsion control, manoeuvrability, mathematical
Models, Simulation.
Palmer, A.
f03886bd-4364-44f5-bade-886326d8509b
Hearn, G.E.
c1b2912b-fe5c-432c-aaa4-39c5eff75178
Stevenson, P.
5e0b96d1-1429-4010-a493-ea23a849f46d
8 April 2008
Palmer, A.
f03886bd-4364-44f5-bade-886326d8509b
Hearn, G.E.
c1b2912b-fe5c-432c-aaa4-39c5eff75178
Stevenson, P.
5e0b96d1-1429-4010-a493-ea23a849f46d
Palmer, A., Hearn, G.E. and Stevenson, P.
(2008)
Modelling tunnel thrusters for autonomous underwater vehicles.
Navigation, Guidance and Control of Underwater Vehicles (NGCUV'08), Killaloe, Co. Clare, Ireland.
08 - 10 Apr 2008.
6 pp
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
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.
Text
Modelling_Tunnel_Thrusters_for_Autonomous_Underwater_Vehicles.pdf
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More information
Submitted date: 11 January 2008
Published date: 8 April 2008
Venue - Dates:
Navigation, Guidance and Control of Underwater Vehicles (NGCUV'08), Killaloe, Co. Clare, Ireland, 2008-04-08 - 2008-04-10
Keywords:
autonomous vehicles, marine systems, propulsion control, manoeuvrability, mathematical
Models, Simulation.
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 54810
URI: http://eprints.soton.ac.uk/id/eprint/54810
PURE UUID: dcc10159-5a04-492f-a59f-0bc98e0c9b94
Catalogue record
Date deposited: 04 Aug 2008
Last modified: 15 Mar 2024 10:50
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Contributors
Author:
A. Palmer
Author:
P. Stevenson
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