Abstract
Autonomous underwater vehicle (AUV) known, as a special purpose underwater research vehicle (SPURV) is really a pocket submarine that could be used in multipurpose such as meteorology, probing the pollution of stream, military spying, exploring an underwater tunnel or wrecked ships and other purposes. With the reason of the power of battery inside of AUV is limited, the aim of this paper is to represent an effect way of control the submerging and surfacing of an AUV in order to save energy for a longer time service or a deeper and further expedition under water. In fact, there are so many ways for saving energy of the battery of AUV and in this paper, the selection of keeping permanently the horizontal direction of the AUV in any operation as the situation of a real submarine is applied. The diving and surfacing of AUV are consigned to the motor of the pump that consumes a little of energy to keep the proportion of the weight and the Archimedes force by pumping water inside or outside of the AUV. The selection of volume of pumped water is considered as a dynamic ballast mass for maintaining the horizontal equilibrium of the AUV at the time of submerging and surfacing. In the other hand, the controlling of the gravity point of AUV for maintaining a fixed position of gravity of the AUV when submerging and surfacing are the main factors of the paper that is also investigated in this paper. Finally, the motor of the propeller or thruster that always spends a great energy has committed only for forward or backward motion of the AUV. In this measure, the motor of thruster does not confronted with a great consummation of energy when submerging and surfacing in an oblique direction as almost all popular measures of control of AUV.
Highlights
In the current time, the exploration underwater in the river and the sea is in great demand for hydro metrology, military secret mission, exploration in small section water tunnel... and so many other purposes
That is an opportunity of the researchers to study, research and manufacture the Autonomous Underwater Vehicle (AUV) time by time more intelligent, more flexible and easy to control
The selected parameter of the Autonomous underwater vehicle (AUV) is based on the one that was estimated by results of experiments that have been performed through about a year in our laboratory and it is similar to a real submarine
Summary
The exploration underwater in the river and the sea is in great demand for hydro metrology, military secret mission, exploration in small section water tunnel... and so many other purposes. The AUV is able to operate in six degrees of freedom and the dynamics of an AUV are nonlinear and subjected to a variety of disturbances such as velocity of outside stream, the density and the degree of pollution of water. The degrees of freedom are limited, where only the surge, heave and yaw degrees of freedom will be controlled. A system identification approaches the direction of AUV is proposed as in Figure 2 to estimate unknown mass/inertia and damping parameters, treating the surge, heave and yaw degrees of freedom separately. The purpose of this paper is to design a version of AUV that could be controlled the submerging and surfacing by pumping water in and out to take up and let out the water ballast to keep the center of gravity of the AUV fixed when submerging and surfacing
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call