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JRM Vol.28 No.3 pp. 371-377
doi: 10.20965/jrm.2016.p0371
(2016)

Paper:

Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage

Rongmin Zhang, Yuan Chen, and Jun Gao

School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai
Wenhuaxilu 180, Weihai 264209, China

Corresponding author

Received:
November 20, 2015
Accepted:
March 8, 2016
Published:
June 20, 2016
Keywords:
underwater vehicle, vectored thruster, dynamic model, maneuverability
Abstract

Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage

Solid model of a vectored underwater vehicle

Vectored underwater vehicles (VUVs) are receiving increasing research attention, in part for their maneuverability. In our work, we apply a novel vectored thruster based on a spherical parallel mechanism to an underwater vehicle. We present and calculate the scaling factor based on the vectored thruster’s configuration parameters and set up a six DOF kinematic model. We construct a nonlinear dynamic model of the VUV without appendages using the Newton-Euler method. To demonstrate the VUV’s transverse maneuverability, we set up a perturbation model in a complex domain using Laplacian transformation, and propose the stability margin of vectored propulsion as a maneuverability index. Many numerical examples are provided to verify the maneuverability of the VUV.

Cite this article as:
R. Zhang, Y. Chen, and J. Gao, “Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage,” J. Robot. Mechatron., Vol.28, No.3, pp. 371-377, 2016.
Data files:
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Last updated on Nov. 20, 2018