MATEC Web Conf.
Volume 148, 2018International Conference on Engineering Vibration (ICoEV 2017)
|Number of page(s)||6|
|Section||Nonlinear Oscillations and Controls of Mechanical, Civil, Aerospace and Naval Structures|
|Published online||02 February 2018|
Dynamics modeling and performance analysis of underwater vehicles based on the Boltzmann-Hamel equations approach
Warsaw University of Technology, Power and Aeronautical Engineering Dept., 00-665 Warsaw, Nowowiejska 24st, Poland
* Corresponding author: firstname.lastname@example.org
The paper addresses dynamics modeling of underwater vehicles, which are typical examples of variable mass and configuration mechanical systems. Specifically, we address inertia–based propelled vehicles, whose mass changes due to change of water amount in their water tanks and their configuration changes due to movable mass enabling maneuvers. They can be additionally subjected to constraints, which are imposed due to their desired performance, tracking pre-specified motions or are control constraints implying underactuation. The paper presents a new approach to variable mass and configuration systems modeling, which is based upon Boltzmann-Hamel equations derived in quasi-coordinates. The dynamics framework based upon quasi-coordinates results in dynamic models suitable for performance analysis and model-based control applications. It serves free or constrained variable mass and configuration systems modeling. The example researched in the paper is an underwater vehicle, which is purely inertia–based propelled. The theoretical development is illustrated with simulation studies of dynamical behavior and performance of the underwater vehicle model moving a specified trajectory.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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