Nonlinear Modeling, Simulating and Experiment of an Autonomous Surface Vehicle Driven by Twin Electric Thrusters
This paper presents a nonlinear model of a catamaran-style Autonomous Surface Vehicle (ASV) thrust with twin fixed propellers, which are driven by DC electric motors. A total model including resistance of boat body, propulsion force and driving characteristics of motor is established. Response for a full range of the ASV motion is simulated according to the model, based on which the performance of the ASV is discussed. Experiment results from sea test are in accord with the ones from simulating, which validate the nonlinear model. Compared with the classical linearized models, the advantage of the nonlinear model lies in convenience for dealing with system response for the full range of ASV motion.
Nonlinear Modeling Autonomous Surface Vehicle Simulating Experiment
Jianhua Wang Changfeng Chen Pingping Huang Wei Gu Jianxin Chu
Marine Technology & Control Engineering Key Laboratory Shanghai Maritime University Shanghai, China
国际会议
重庆
英文
107-109
2011-01-21（万方平台首次上网日期，不代表论文的发表时间）