Next Article in Journal
Ship Manoeuvrability-Based Simulation for Ship Navigation in Collision Situations
Next Article in Special Issue
Second Path Planning for Unmanned Surface Vehicle Considering the Constraint of Motion Performance
Previous Article in Journal
Application of the Fractal Method to the Characterization of Organic Heterogeneities in Shales and Exploration Evaluation of Shale Oil
Previous Article in Special Issue
Autonomous Minimum Safe Distance Maintenance from Submersed Obstacles in Ocean Currents
Open AccessArticle

UUV Simulation Modeling and its Control Method: Simulation and Experimental Studies

Marine Robotics R&D Division, Korea Institute of Robot and Convergence, Jigok-Ro 39, Nam-Gu, Pohang 37666, Korea
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2019, 7(4), 89; https://doi.org/10.3390/jmse7040089
Received: 27 February 2019 / Revised: 24 March 2019 / Accepted: 25 March 2019 / Published: 28 March 2019
(This article belongs to the Special Issue Intelligent Marine Robotics Modelling, Simulation and Applications)
This paper presents the development of an unmanned underwater vehicle (UUV) platform, especially the derivation of the vehicle’s simulation model and its control method to overcome strong sea current. The platform is designed to have a flattened ellipsoidal exterior so as to minimize the hydrodynamic damping on the horizontal plane. Four horizontal thrusters with the identical specifications are symmetrically mounted on the horizontal plane, and each of them has the same thrust dynamics in both forward and reverse directions. In addition, there are three vertical thrusters used to handle the vehicle’s roll, pitch and heave motions. Control strategy proposed in this paper to overcome strong current is that: maximizing the vectored horizontal thrust force against the sea current without or with the least of the vehicle’s rotation on the horizontal plane. For the vehicle model, due to it being symmetric in all of three axes, the vehicle dynamics can be simplified and all of hydrodynamic coefficients are calculated through both of theoretical and empirically-derived formulas. Numerical simulations and experimental studies in both of the water tank and the circulating water channel are carried out to demonstrate the vehicle’s capability of overcoming strong current. View Full-Text
Keywords: unmanned underwater vehicle (UUV); marine systems; vehicle dynamics; simulation model; overcome strong sea current unmanned underwater vehicle (UUV); marine systems; vehicle dynamics; simulation model; overcome strong sea current
Show Figures

Figure 1

MDPI and ACS Style

Li, J.-H.; Kim, M.-G.; Kang, H.; Lee, M.-J.; Cho, G.R. UUV Simulation Modeling and its Control Method: Simulation and Experimental Studies. J. Mar. Sci. Eng. 2019, 7, 89.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop