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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Dynamic
Modelling Of The “Searazor”-
An Interdisciplinary Marine Vehicle For Ship Hull Inspection And Maintenance |
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Authors: |
Cong Liu, Eilif
Pedersen, Vilmar AEsoy,
Hans Petter Hildre, Houxiang Zhang |
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Published in:
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(2013).ECMS 2013 Proceedings edited
by: W. Rekdalsbakken, R. T. Bye, H. Zhang European Council for Modeling
and Simulation. doi:10.7148/2013 ISBN:
978-0-9564944-6-7 27th
European Conference on Modelling and Simulation, Aalesund, Norway, May 27th –
30th, 2013 |
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Citation
format: |
Cong
Liu, Eilif Pedersen, Vilmar
AEsoy, Hans Petter Hildre, Houxiang Zhang (2013).
Dynamic Modelling Of The “Searazor”-
An Interdisciplinary Marine Vehicle For Ship Hull Inspection And Maintenance, ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang, European Council for Modeling
and Simulation. doi:10.7148/2013-0705 |
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DOI: |
http://dx.doi.org/10.7148/2013-0705 |
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Abstract: |
The
Searazor is a novel underwater
vehicle designed for underwater inspection and maintenance of ships and underwater
structures. In this paper, the vehicle’s dynamic characteristics and control
scheme are studied. A series of sub-models, representing the major components
of the vehicle, are developed in a bond graph environment. A servo control
system that governs the attitude and steering is also implemented. These models
are then assembled and operated as a rigid body under the force input from
thruster, wheels and environmental factors. The resulting motion of the vehicle
under human manoeuvring input is simulated in 20sim
software. Analyses and simulations are also implemented for dynamic stabilisation under disturbance from waves and current.
The simulation currently provides support for Searazor
prototype design. The entire model will be the simulation framework for
developing and testing control algorithms to maneuvre
the vehicle in complex marine environments. |
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