文章基本信息

标题：Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable
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作者：Sung Min Hong ; Kyoung Nam Ha ; Joon-Young Kim 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2020
卷号：8
期号：312
页码：318
DOI：10.3390/jmse8050318
语种：English
出版社：MDPI AG
摘要：This paper describes a study on the dynamic modeling and the motion simulation of an unmanned ocean platform to overcome the limitations of existing unmanned ocean platforms for ocean exploration. The proposed unmanned ocean vehicle combines an unmanned surface vehicle and unmanned underwater vehicle with an underwater cable. This platform is connected by underwater cable, and the forces generated in each platform can influence each other’s dynamic motion. Therefore, before developing and operating an unmanned ocean platform, it is necessary to derive a dynamic equation and analyze dynamic behavior using it. In this paper, Newton’s second law and lumped-mass method are used to derive the equations of motion of unmanned surface vehicle, unmanned underwater vehicle, and underwater cable. As the underwater cable among the components of the unmanned ocean platform is expected to affect the motion of unmanned surface vehicle and unmanned underwater vehicle, the similarity of modeling is described by comparing with the cable modeling results and the experimental data. Finally, we constructed a dynamic simulator using Matlab and Simulink, and analyzed the dynamic behavior of the unmanned ocean platform through open-loop simulation.