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题名: A Dynamical Model of Autonomous Vehicles with Time-Varying Resistance of Fluid
作者: Yu J(于军) ; Nie YY(聂义勇)
作者部门: 工业控制系统研究室
会议名称: 9th World Multi-conference on Systemics, Cybernetics and Informatics (WMSCI 2005)
会议日期: July 10-13, 2005
会议地点: Orlando, Florida, USA
会议录: 9th World Multi-conference on Systemics, Cybernetics and Informatics (WMSCI 2005),
出版日期: 2005
页码: 223-227
ISBN号: 980-6560-52-3
关键词: Dynamics Model ; Autonomous Underwater Vehicles ; Fluid Resistance
摘要: This paper describes a time-dependent dynamics model of autonomous underwater vehicle (AUV). It is important for developing or controlling the AUV that the active forces on the vehicle are exactly evaluated, including propulsion, hydrodynamics and gravity. As compared with existent dynamics model, the model improves the computational approach, that is, the Navier-Stokes equations are solved to obtain the velocity and pressure distribution around vehicles at each time step, then the distributed pressure and velocity is integrated to estimate the fluid resistance. When the Navier-Stokes equations are solved, the overlap grid method is employed to eliminate the limitation that the vehicle can not move freely on grid. In conclusion the simulation is done for a simplified AUV by the model. The results show the feasibility and efficiency to research the performance and controller of velocity variable AUV.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9725
Appears in Collections:工业信息学研究室_工业控制系统研究室_会议论文

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