Volume 36 Issue 9
Sep.  2010
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Lian Lun, Wu Zhong. Dynamics and simulation of autonomous underwater vehicle based on control moment gyros[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(9): 1108-1112. (in Chinese)
Citation: Lian Lun, Wu Zhong. Dynamics and simulation of autonomous underwater vehicle based on control moment gyros[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(9): 1108-1112. (in Chinese)

Dynamics and simulation of autonomous underwater vehicle based on control moment gyros

  • Received Date: 06 Jul 2009
  • Publish Date: 30 Sep 2010
  • To improve autonomous underwater vehicle(AUV)-s low velocity control performance, a control moment gyro (CMG) was introduced as the attitude control system. Taking the fluid dynamics into account, the dynamic model of AUV was built based on CMG, and a simulation and analysis on AUV-s kinematics and attitude control also was made. The results show that AUV based on CMG has high efficient maneuverability and ideal low velocity control performance. Accordingly, AUV-s kinematics and attitude control can be realized. But the SGCMG steering law used doesn-t consider the singularity avoidance. Designing high performance steering law is the farther problem. It provides foundation for the design of steering law and attitude control.

     

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