Abstract
This paper presents the dynamic modelling and control of a developed compact autonomous underwater vehicle (AUV), which has a closed frame, neutrally buoyant, a three-part modular structure made up of glass fibre composite material. The robot uses three fix position bi-directional thrusters for propulsion, out of which two thrusters are used for horizontal planar motion and the third one is used for vertical motion. A detailed 3D model of the AUV has been developed using the CAD modelling software SOLIDWORKS to determine the system parameters. Kinematic analysis has been carried out to correlate the local and global position, velocity and acceleration of the AUV. Computational fluid dynamics (CFD) software ANSYS Fluent is used for boundary layer study to determine the hydrodynamic parameters. Using the kinematic and hydrodynamic parameters a six degrees of freedom (DOF) dynamic model is developed. With appropriate assumptions, the complex 6 DOF coupled non-linear dynamic model is simplified to a 4 DOF model. A closed-loop PD controller is developed using the partitioning law and the system dynamic model, which is simulated using MATLAB Simulink. A 3D guidance system is developed to follow path generated by waypoint technique using Line-of-Sight (LOS) strategy. This work will find application in the navigation of the AUV in a predefined path.
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Abbreviations
- \(\phi \) :
-
Roll (rad)
- \(\theta \) :
-
Pitch (rad)
- \(\psi \) :
-
Yaw (rad)
- u :
-
Surge (m/s)
- v :
-
Sway (m/s)
- w :
-
Heave (m/s)
- p :
-
Roll rate (rad/s)
- q :
-
Pitch rate (rad/s)
- r :
-
Yaw rate (rad/s)
- \(\eta \) :
-
Position and orientation in N-frame
- \(\nu \) :
-
Linear and angular velocity in B-frame
- m :
-
Mass (kg)
- \(I_b\) :
-
Inertia tensor
- \(r_g\) :
-
C.G Position in B-frame (m)
- \(r_b\) :
-
C.B Position in B-frame (m)
- \(f_g\) :
-
Gravitational vector (N)
- \(f_b\) :
-
Buoyancy vector (N)
- \(M_RB\) :
-
Rigid body inertia matrix
- \(C_RB\) :
-
Coriolis and Centripetal matrix
- Dv :
-
Damping matrix
- \(g(\eta )\) :
-
Gravitational and buoyancy matrix
- \(\rho \) :
-
Density of the flow medium (kg/m\(^3\))
- \(\nabla \) :
-
Displaced fluid volume (m\(^3\))
- \(C_d\) :
-
Coefficient of drag
- \(A_f\) :
-
Reference area (m\(^2\))
- \(\tau \) :
-
Body-fixed forces and moments
- L :
-
Thruster configuration vector (m)
- U :
-
Control input vector (N)
- r(t):
-
Radius of acceptance (m)
- \(X_p\) :
-
Proportional control gain
- \(X_v\) :
-
Derivative control gain
- e :
-
Position and orientation error
- \(\dot{e}\) :
-
Linear and angular velocity error
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Sahoo, A., Dwivedy, S.K., Robi, P.S. (2020). Dynamic Modelling and Control of a Compact Autonomous Underwater Vehicle. In: P. P. Abdul Majeed, A., Mat-Jizat, J., Hassan, M., Taha, Z., Choi, H., Kim, J. (eds) RITA 2018. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-13-8323-6_25
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DOI: https://doi.org/10.1007/978-981-13-8323-6_25
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