Modelling tunnel thrusters for autonomous underwater vehicles

Palmer, A.; Hearn, G.E.; Stevenson, P.. 2008 Modelling tunnel thrusters for autonomous underwater vehicles. In: Navigation, Guidance and Control of Underwater Vehicles (NGCUV'08), Killaloe, Co. Clare, Ireland, 08-10 Apr 2008. University of Limerick, International Federation of Automatic Control (IFAC).

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With 900 Autonomous Underwater Vehicles (AUVs) required over the next decade (Newman et al., 2007) existing survey-style AUVs need improved utilization factors. Additional control devices to extend operational capability need consideration together with the interchange between AUV control approaches. This paper considers supplementary through-body tunnel thruster control during the transition from survey operation to low-speed manoeuvring. Modified manoeuvring equations permit investigation of energy level demands as a positively buoyant AUV is slowed down from cruising speed to maintaining a stationary position. A suitable model of the selected thruster device is proposed following a literature review of tunnel thruster performance.

Item Type: Publication - Conference Item (Paper)
Additional Keywords: autonomous vehicles, marine systems, propulsion control, manoeuvrability, mathematical Models, Simulation.
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Date made live: 04 Aug 2008 +0 (UTC)

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