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Enhancing the roll dynamics of an AUV by contra-rotating-propellers

Ebrahimi, M ; Sharif University of Technology | 2020

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  1. Type of Document: Article
  2. DOI: 10.1080/17445302.2020.1786233
  3. Publisher: Taylor and Francis Ltd , 2020
  4. Abstract:
  5. Roll control of the Autonomous Underwater Vehicles (AUVs) is a significant issue in the current field of research for many researchers in the subject of AUV control system designation. Especially at higher speeds, the roll angle generated by a single rotating propeller or other external disturbances can considerably influence the whole dynamics and therefore the operation of the vehicle. In this paper, the utilisation of a system of contra-rotating-propellers (CRP) to enhance the roll dynamics of an AUV is evaluated by developing a six-degrees-of-freedom (6DOF) dynamics and control systems’ simulator. The results show that: 1. The single propeller system can cause roll angle deflections affecting the heading angle and depth of AUV depending on the forward speed. 2. Using the contra-rotating system with a proper roll controller can enhance the roll dynamics of the vehicle, particularly for the real-time roll stabilisation and maneuvering goals. © 2020, © 2020 Informa UK Limited, trading as Taylor & Francis Group
  6. Keywords:
  7. 6DOF dynamics ; Autonomous Underwater Vehicle (AUV) ; Contra-Rotating Propellers (CRP) ; control system simulator ; Roll control enhancement ; Control systems ; Degrees of freedom (mechanics) ; Dynamics ; Maneuverability ; Propellers ; Autonomous underwater vehicles (AUVs) ; Contra rotating propeller (CRP) ; Contra rotating propellers ; Contra-rotating ; Current fields ; Dynamics and control ; External disturbances ; Six degrees of freedom ; Autonomous underwater vehicles
  8. Source: Ships and Offshore Structures ; 2020
  9. URL: https://www.tandfonline.com/doi/abs/10.1080/17445302.2020.1786233