Dynamic Modelling Of The "Searazor" - An Interdisciplinary Marine Vehicle For Ship Hull Inspection And Maintenance
نویسندگان
چکیده
The Searazor is a novel underwater vehicle designed for underwater inspection and maintenance of ships and underwater structures. In this paper, the vehicle’s dynamic characteristics and control scheme are studied. A series of sub-models, representing the major components of the vehicle, are developed in a bond graph environment. A servo control system that governs the attitude and steering is also implemented. These models are then assembled and operated as a rigid body under the force input from thruster, wheels and environmental factors. The resulting motion of the vehicle under human manoeuvring input is simulated in 20sim software. Analyses and simulations are also implemented for dynamic stabilisation under disturbance from waves and current. The simulation currently provides support for Searazor prototype design. The entire model will be the simulation framework for developing and testing control algorithms to maneuvre the vehicle in complex marine environments.
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