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1、12th IFToMM World Congress, Besanon (France), June18-21, 2007 CK-xxx 1Modelling and Analysis of an Autonomous Underwater Vehicle Via Multibody System Dynamics Hongwei Zhang* Shuxin Wang Tianjin University Tianjin University Tianjin, China Tianjin, China AbstractAutonomous underwater vehicles (AUVs)
2、have become an interesting research area because of their emerging applications in oceanographic survey. The dynamic modelling and simulation of AUVs are important in the process of design and analysis of the maneuverability of AUVs. AUVs with complex attached bodies can be considered as multibody s
3、ystems for more accuracy in calculation of dynamic behaviour and maneuverability. In this paper, dynamic modelling and analysis of VBS-AUV, which was developed in our lab for landing and taking off on the sea floor, is performed based on multibody system dynamics. The forces acted on each body of VB
4、S-AUV are considered and computed respectively. Hydrodynamic coefficients used in the dynamic model are estimated or evaluated with the empirical method, experimental method and CFD. The comparison for calculating hydrodynamic coefficients are discussed and simulated in the dynamic analysis of VBS-
5、AUV. Simulating and experimental results show that multibody system dynamics will be an efficient tool to describe detailed and accurate models of AUVs with complex attached bodies. Keywords: autonomous underwater vehicle (AUV), multibody system dynamics, hydrodynamic coefficient, computational flui
6、d dynamics ( (CFD) I. Introduction Autonomous underwater vehicles (AUVs) have become an intense area of oceanic research because of their emerging applications in oceanographic survey. In the process of design and analysis of maneuverability of AUVs, simulating the movement of AUVs with dynamic mode
7、lling is an indispensable procedure 1, 2. The dynamic behaviour of AUVs have been the subject of considerable interest for many years 3, 4, 5, 6. However, with the expanding of AUVs function, the geometric shape and mechanical construction of AUVs are becoming more and more complicated. Some of the
8、AUVs are designed with complex attached bodies for more complicated oceanographic tasks. Simplified model considering an AUV with complex attached bodies as one rigid body will cause inaccuracy in the calculation of dynamic behaviour and maneuverability. Therefore, efficient tools are required to de
9、scribe detailed and accurate models of AUVs with complex attached bodies. Multibody system modelling has matured to the point that * E-mail : E-mail : it is suitable for such applications 7, 8. An AUV can be viewed as a multibody system consisting of several rigid bodies, such as a base body, atta
10、ched bodies, rudders, elevators and propeller. Accordingly, the hydrodynamic coefficients of the whole AUV including both the base body and attached bodies should be estimated or evaluated for using in dynamic models. Generally, the hydrodynamic coefficients can be derived by three methods, i.e. emp
11、irical method, captive model experimental method and CFD method. The object of this paper is to describe the dynamic behaviour of an AUV developed in our lab (named as VBS-AUV) using multibody system dynamics, and to demonstrate how the various hydrodynamic coefficients estimated or evaluated with t
12、hree methods affect the dynamic behaviour of the VBS-AUV respectively. The remainder of this paper is organized as follows. In Section 2, VBS-AUV is introduced. The dynamic model of multibody systems for VBS-AUV is presented in Section 3. The hydrodynamic coefficients evaluation and simulation are o
13、utlined in Section 4. Section 5 concludes the paper. II. Description of VBS-AUV VBS-AUV (Autonomous Underwater Vehicle with Variant Buoyancy System) is a modular low-cost autonomous underwater vehicle which can land on the sea floor and take off. To accomplish the task for oceanographic survey, six
14、primary subsystems are required: (1) variant buoyancy system (VBS), (2) propulsion, (3) power, (4) antenna, (5) navigation sensors, (6) and oceanographic sensors. Structurally VBS-AUV can be described as six sections: nose, main cabin, battery cabin, ballast tanks, ADCP (Acoustic Doppler Current Pro
15、filer) and the tail, as shown in figure 1. VBS-AUV weights 195 kg in air. And it is 3.2m long with the base body diameter of 0.3m. The principal parameters are shown in table 1. Maximum working depth 120 m Voyage speed 2m/s (4 knot) Cruising range 50 km Navigation system GPS/DVL Source of power Lithium-ion TABLE I. Principal charateristics of VBS-AUV 12th IFToMM World Congress, Besanon (France), June18-21, 2007 CK-xxx 2For an extended measuring period, two ballast tanks are designed to be used as landing and bottom-sitting stru
