Dynamics and control simulator for the Theseus AUV

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Authors
  1. Seto, M.L.
Corporate Authors
Defence Research Establishment Atlantic, Dartmouth NS (CAN)
Abstract
A nonlinear, 6 degree-of-freedom maneuvering dynamics and control simulator for the Theseus autonomous underwater vehicle (AUV) has been validated against several sets of full scale trials and independent predictive methods. The vehicle hydrodynamic coefficients are estimated with standard theoretical and empirical methods augmented with towing tank test results. The control algorithm implemented in the simulator is the same as the one used in the actual vehicle. A propulsion model makes it possible to optimize vehicle range and transit speeds as the battery capacity changes during the mission. The simulated vehicle response compares well against full scale sea trials data. The paper discusses the simulator validation and its use for vehicle design and mission applications.
Keywords
AUV (Autonomous Underwater Vehicle);Theseus
Report Number
DREA-SL-2000-037 — Paper
Date of publication
01 May 2000
Number of Pages
9
DSTKIM No
CA010442
CANDIS No
515313
Format(s):
Hardcopy;Document Image stored on Optical Disk

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