Abstract
We considered the motion equation for an autonomous underwater vehicle (AUV) with a manipulator onboard in the inertial coordinate system (ICS). A nonlinear system of differential equations takes into account in the form of attached mass coefficients the impact of infiltration effects and dissymmetry of the outer shell of the body. The work of manipulator and fixing elements is accounted for by additional forces and moments that occur as a consequence of their relative motion. The expressions of forces and moments are presented for the given kinematic schemes. A recurrent approximation method is applied, as result of which we transformed a solution for the system of nonlinear differential equations to the recurrent sequence of analytical expressions. The constructed sequence describes the dynamics of AUV with regard to the angular position and kinematic parameters without simplifications in the kinematic matrix. The algorithm that was synthesized based on this model is presented, which provides for presenting, in the form of recurrent sequence of actions and calculations, the expressions for analytical representation of solution for the direct problem on the AUV dynamics. Based on the analytical approximations of the model, we present expressions for an error that occurs as a consequence of angular deviations and simplifications in the kinematic matrices. The dynamics of AUV was modeled and quantitative values of error were obtained as a function of operating and kinematic parameters of AUV in ICS. The derived models of dynamics and expressions for errors are important for decision support systems because they allow the representation of information about the motion of AUV and manipulator aboard in a uniform ICS. The possibilities obtained have eliminated obstacles to comprehensive modeling of technological AUV and creation of ACS. Using the results of modeling the impact of manipulator's work aboard AUV, we established factors that influence the magnitude of error when calculating by the simplified kinematic matrices.
Highlights
The experience in managing the process of motion of unmanned underwater vehicles (UUV) acquired when conducting emergency repair work or technological survey indicates many false assumptions that are accepted in the formation of the model [1]
As demonstrated by experimental studies, for example, in article [2], control over spatial motion needs to take into account the interrelation between translational and rotational motion
The same reason prevents processing, comparing and combining the information obtained for different coordinate systems and stored in special libraries [15]. Such fragmentation and incomparability leads to non-effective solutions [16] and additional reasons for the formation of errors [17]. The latter is caused by the inability of the models, which are formed by means of simplified equations for the dynamics of movable interacting elements, for predictive assessment of the full set of kinematic parameters [18]
Summary
The experience in managing the process of motion of unmanned underwater vehicles (UUV) acquired when conducting emergency repair work or technological survey indicates many false assumptions that are accepted in the formation of the model [1]. The same reason prevents processing, comparing and combining the information obtained for different coordinate systems and stored in special libraries [15] Such fragmentation and incomparability leads to non-effective solutions [16] and additional reasons for the formation of errors [17]. The latter is caused by the inability of the models, which are formed by means of simplified equations for the dynamics of movable interacting elements, for predictive assessment of the full set of kinematic parameters [18]. The latter considerably complicates construction of the analytical solution while the problem on accounting for the actual angular positions for the prediction and evaluation of action alternatives becomes relevant, rendering it the main unresolved task
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
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 callMore From: Eastern-European Journal of Enterprise Technologies
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
