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Mathematical model of the Guanay II AUV
González Agudelo, Julián; Masmitjà Rusiñol, Ivan; Gomáriz Castro, Spartacus; Batlle Arnau, Carles; Sarriá Gandul, David; Río Fernandez, Joaquín del
Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica; Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV; Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació; Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d´Energia
This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile,which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.
Àrees temàtiques de la UPC::Nàutica::Enginyeria naval
Àrees temàtiques de la UPC::Nàutica::Arquitectura naval
Marine engineering
Submersibles--Automatic control.
Remote submersibles.
auv
mathematical model
Submarins
Vehicles submergibles
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
         

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