Publicações

Moreira, L. e Guedes Soares, C. (2008), “H2 and H Designs for Diving and Course Control of an Autonomous Underwater Vehicle in Presence of Waves”, Journal of Oceanic Engineering, Vol. 33, N.º 2, pp. 69-88

A H2 design applied to the diving and course control of an autonomous underwater vehicle (AUV) considering the presence of wave disturbances is described. The 6 degrees of freedom equations of motion of the vehicle are described as a linear model and divided into three non-interacting (or lightly interacting) subsystems for speed control, steering and diving. The work is based on the slender form of the Naval Postgraduate School AUV, considering that the subsystems can be controlled by means of two single-screw propellers, a rudder, port and starboard bow planes and a stern plane. A model of the AUV dynamics is presented with the first and the second order wave force disturbances, i.e. the Froude-Kriloff and diffraction forces. An algorithm of non-linear regression for the rationalization of the sub-surface sea spectrum is provided in this case study. The obtained results are analyzed and evaluated both in frequency and time domains comparing the controllers performance considering or not the inclusion of the model of waves.

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