Development of a Morphing AUV for Path and Station-keeping in Complex Current Environments

作者：Meneses Andre^*; Su Tsung Chow; Dhanak Manhar

来源：Naval Engineers Journal, 2014, 126(4): 169-174.

This paper explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to enhance their performance in energetic environments Morphing control surfaces are introduced based on the concept of shape memory alloy to deflect the trailing edge of the airfoil and enhance lift. Experimental data suggest that a morphing rudder has better lift coefficient characteristics than a conventional rudder. A general nonlinear dynamic model for an AUV operating in energetic shallow waters is developed. The model is limited to the horizontal plane and includes the effect of ocean current. Using Simulin (R), a numerical simulation is performed to improve the path and station-keeping characteristics of an AUV with two sets of active rudders at the stern and bow. A feedback control law and a control allocation algorithm were included in the Simulink (R) model to determine the distribution of commanded forces to the actuators. For station-keeping in head and beam seas, a proportional-integral-derivative (PID) controller is used to estimate the required control forces and moments to counteract the effect of the current. The results of the study suggest that active rudders, when suitably applied, can enhance performance of underwater vehicles in energetic shallow waters.

• 出版日期2014-12