Skip to main content

Advertisement

SpringerLink
Log in

Nonlinear dynamics modeling and performance prediction for underactuated AUV with fins

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

    We’re sorry, something doesn't seem to be working properly.

    Please try refreshing the page. If that doesn't work, please contact support so we can address the problem.

Abstract

The application of autonomous underwater vehicles (AUV) is widespread with the development of the activities in deep ocean. For low energy consumption, low resistance and excellent maneuverability, fins are usually used to modify AUV hydrodynamic forces. The underactuated AUV can do gyratory motion by vertical fins and do diving and rising motion by horizontal fins. However, the modeling and performance prediction for the underactuated AUV with fins have not been solved well. We build the dynamics and kinematics model in 6-DOF for the underactuated AUV with fins and analyze the forces and hydrodynamic coefficients in detail, especially the fin effect. Various hull hydrodynamic coefficients are obtained by CFD numerical computation. A series of simulation experiments are conducted to predict AUV hydrodynamic performance, and the feasibility and accuracy are verified by comparing the results on WL-II underactuated AUV in ocean experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19

Similar content being viewed by others

References

  1. Wynn, R.B., Huvenne, V.A.I.: Autonomous underwater vehicles (AUVs): their past, present and future contributions to the advancement of marine geoscience. Mar. Geol. 352(1), 451–468 (2014)

    Article  Google Scholar 

  2. Monique, C.: Autonomous underwater vehicles. Ocean Eng. 36(1), 1–2 (2009)

    Article  Google Scholar 

  3. Xu, Y.R., Pang, Y.J., Gan, Y., Sun, Y.S.: AUV-state-of-the-art and prospect. CAAI Trans. Intell. Syst. 1(1), 9–16 (2006)

    Google Scholar 

  4. Xu, Y.R., Xiao, K.: Technology development of autonomous ocean vehicle. J. Autom. 33(5), 518–521 (2007)

    MathSciNet  MATH  Google Scholar 

  5. Ke, G.Y., Wu, T., Li, M., Xiao, D.B.: The improvements and trends of the unmanned underwater vehicles. Natl. Def. Sci. Technol. 34(5), 44–48 (2013)

    Google Scholar 

  6. Prestero, T.J.: Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle. In: Proceedings of the OCEANS 2001 MTS/IEEE Conference and Exhibition, pp. 450–455 (2001)

  7. Chang, W.J., Liu, J.C., Yu, H.: Mathematic model of the AUV motion control and simulator. Ship Eng. 12(3), 58–60 (2002)

  8. Li, Y., Liu, J.C., Shen, M.: Dynamics model of underwater robot motion control in 6 degrees of freedom. J. Harbin Inst. Technol. 12(4), 456–459 (2005)

    Google Scholar 

  9. Nahon, M.: A simplified dynamics model for autonomous underwater vehicles. J. Ocean Technol. 1(1), 57–68 (2006)

    Google Scholar 

  10. Silva, J., Terra, B., Martins, R., Sousa, J.: Modeling and simulation of the LAUV autonomous underwater vehicle. In: Proceedings of IEEE Conference on Methods and Models in Automation and Robotics, pp. 713–718 (2007)

  11. Conte, G., Serrani, A.: Modeling and simulation of underwater vehicles. In: Proceedings of IEEE Symposium on Computer-Aided Control System Design, pp. 62–67 (1996)

  12. Timothy, P.: Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle: Oceans. In: MTS/IEEE Conference and Exhibition, pp. 450–455 (2001)

  13. Zhang, H., Xu, Y., Cai, H.: Using CFD software to calculate hydrodynamic coefficients. J. Mar. Sci. Appl. 9, 149–155 (2010)

    Article  Google Scholar 

  14. Zhang, H., Pang, Y., Li, Y.: Study of AUV’s hydrodynamic coefficients calculation method. J. Wuhan Univ. Technol. (Transp. Sci. Eng.) 35(1), 15–18 (2011)

    Google Scholar 

  15. Wang, Q.: Research on application of variable structure control to AUVs operating in current. A Master Degree Thesis, Harbin Engineering University (2007)

  16. Su, Y., Wan, L., Li, Y.: Development of a small autonomous underwater vehicle controlled by thrusters and fins. Robot 29(2), 151–154 (2007)

    Google Scholar 

  17. Wang, B., Su, Y., Qin, Z.: Research on maneuverability and simulation of small autonomous underwater vehicle. J. Syst. Simul. 21(13), 4149–4158 (2009)

    Google Scholar 

  18. Shi, S.: Submarine Maneuverability. National Defence Industry Press, Beijing (1995)

    Google Scholar 

  19. Yasser, M.: A new model for the structure of leaves. J. Softw. 6(4), 662–669 (2011)

    Google Scholar 

  20. Li, Y., Liu, J., Xu, Y., Pang, Y.: Dynamics modeling for motion control of underwater vehicle with wing. Robot 27(2), 128–131 (2005)

    Google Scholar 

  21. Li, G., Duan, W.: Experimental study on the hydrodynamic property of a complex submersible. J. Ship Mech. 15(1), 58–65 (2011)

    Google Scholar 

Download references

Acknowledgments

This work is supported by the National Natural Science Foundation of China (Grant Nos. 51579022, 51579023, 51209025) and Fundamental Research Funds for the Central Universities of China (Grant Nos. 3132015088, 3132014318 ).

Author information

Authors and Affiliations

  1. College of Traffic Equipment and Ocean Engineering, Dalian Maritime University, Dalian, China

    Xiao Liang

  2. National Key Laboratory of Autonomous Underwater Vehicle Technology, Harbin Engineering University, Harbin, China

    Ye Li

  3. College of Marine Engineering, Dalian Maritime University, Dalian, China

    Zhouhua Peng & Jundong Zhang

Authors
  1. Xiao Liang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ye Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhouhua Peng
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jundong Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xiao Liang.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Liang, X., Li, Y., Peng, Z. et al. Nonlinear dynamics modeling and performance prediction for underactuated AUV with fins. Nonlinear Dyn 84, 237–249 (2016). https://doi.org/10.1007/s11071-015-2442-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-015-2442-1

Keywords

Search

Navigation