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An experimental self-motion
study of the Ocean Explorer AUV in controlled sea
states
Edgar,
P. Smith,
S.M.
Dept. of
Ocean Eng., Florida Atlantic Univ., Boca Raton,
FL;
This paper appears
in: Oceanic Engineering, IEEE Journal
of
On page(s):
274-284
Volume: 23,
Jul
1998
ISSN:
0364-9059
References
Cited: 14
CODEN:
IJOEDY
INSPEC Accession
Number: 5975641
Abstract:
This paper describes a controlled
self-motion study recently carried out using a small
autonomous underwater vehicle (AUV) in a controlled
environment in which regular and random waves can be generated
accurately for various frequencies and heights. In this study,
the AUV was one of the Florida Atlantic University's Ocean
Explorer series vehicles, and the controlled environment was
chosen to be the Maneuvering And Sea-Keeping (MASK) facilities
located at the David Taylor Model Basin. During the entire
study, 29 sets of experimental motion and wave data were
collected under various wave frequencies and heights, vehicle
alignment, and operating depths. Due to the wave tank
constraint, the vehicle speed was restricted to be less than
1.5 m/s and the wave frequency higher than 0.3 Hz without
significantly affecting the self-motion analysis. Time history
and power spectral density results suggest that the
roll-induced pitching response was considerably larger for the
wave frequencies tested, as compared to the pitch-induced
rolling response. Standard deviation results reveal that the
existing OEX is capable of producing approximately 3°
(peak-to-peak) pitch, 0.7° (peak-to-peak) roll, and 0.6°
(peak-to-peak) yaw at 2-m depth in the head-sea condition when
the encountering wave frequency is close to 0.4 Hz. However,
at 1.5-m vehicle depth, significant surges were observed in
pitching and rolling motion, suggesting that the OEX is
currently unsuitable to maintain accurate depth-following
within this range at sea-state 2 or higher. It is hoped that
the results presented can provide better insights into how a
small AUV with a nonideal body shape reacts to waves of
different sea states, and how vehicle self-motion can be
streamlined by choosing proper vehicle speed, heading, and
depth, given that the wave characteristics are available
Index Terms:
closed loop
systems fuzzy
control marine
systems mobile
robots motion
control spectral
analysis
Documents that cite this
document
Select link to view other documents in the
database that cite this one.
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