Modelling and Analysis of Turning Motion of a Subsurface Mapping AUV with Split-Hull Design

作     者：Vishakh S.Kumar Prabhu Rajagopal Vishakh S.Kumar;Prabhu Rajagopal

作者机构：Centre for Nondestructive EvaluationDepartmentof Mechanical EngineeringIIT MadrasChennai600036Tamil NaduIndia 

基　　金：Mechanical Department 

出 版 物：《Journal of Marine Science and Application》 (船舶与海洋工程学报（英文版）)

年 卷 期：2021年第20卷第2期

页      码：284-301页

摘      要：There is much need for autonomous underwater vehicles(AUVs)for inspection and mapping *** conventional AUVs use torpedo-shaped single-rigid hull,because of which their manoeuvrability is ***,any increase in payload results in a larger hull size and the turning diameter,limiting its operation in constrained *** a solution to this problem,we develop M-Hull,a subsurface mapping AUV with a modular-split hull design that provides better manoeuvrability than a conventional torpedo-shaped *** the same time,it has more agility than an unconventional bio-inspired snake-like vehicle though their designs look *** approach makes it a hybrid solution between conventional torpedo-shaped AUVs and unconventional bio-inspired *** focus on improving the turning diameter during the mapping operation,and hence this paper concentrates on the dynamic aspects of the 2D turning motion of the *** will provide the relationship between turning speed,thrust,and joint torque requirements for the multi-hull underwater *** turning modes are compared to choose an optimum turning configuration,and the critical speed is calculated for the vehicle s safe *** the end,the modelling is verified using the experimental *** can follow the method followed here for the 2D motion analysis of similar underwater vehicles.

主 题 词：Autonomous underwater vehicle Turning diameter Dynamic modelling Fluid force Joint torque 

学科分类：0707[理学-海洋科学类] 08[工学] 0815[工学-矿业类] 0824[工学-林业工程类] 0802[工学-机械学] 082401[082401] 0801[工学-力学类] 

核心收录：

D　O　I：10.1007/s11804-021-00211-4

馆 藏 号：203104271...