Dynamics Modeling of a Six-Thruster Underwater Vehicle
This paper described a dynamics model of an underwater vehicle which is propelled by six thrusters consist of speed control watertight motors and propellers mounted in shroud.Forces acting on the vehicles are analyzed under a series of reasonable assumptions.The dynamic model of the thrusters of the vehicle is also analyzed,and the position of the six thrusters is illustrated to get the forces and moment vector of the thrusters.We can see that the six thrusters can supply 3 dimension force and 3 dimension torque from the vector.Dynamics model is simplified according to the architecture.This modeling method is proved to be effective.
underwater vehicle dynamics modeling six-thruster propeller mounted in shroud
Tao Ma Yao Sun Guangchun Li Yanhui Wei
College of Automation Harbin Engineering University Harbin 150001,China
国际会议
秦皇岛
英文
433-436
2010-11-05（万方平台首次上网日期，不代表论文的发表时间）