Preliminary communication

General mathematical model of autonomous underwater object motion

Miroslav Radosavljević ; Beograd, Serbia
Marko Tomašević ; University of Split, Faculty of Maritime Studies - Split, Split, Croatia
Nikola Tomašević ; Beograd, Serbia

Abstract

In this paper an autonomous moving underwater object was considered. Underwater autonomous moving objects are very complex dynamic systems controlled with computers using complex control algorithms. Controlling such dynamic objects is very demanded specially regarding environmental conditions (water waves, currents and so on). On this basis, all hydrodynamic forces and their torques acting to the moving object were identified. The position of the object was unambiguously determined in any time instance by defining coordinate systems. On the basis of known relations of hydrodynamics and system energetic balances, self-mobile underwater object and water, the general mathematical model of dynamics of underwater object is reached. General mathematical model defined in this way is prepared for computer algorithm of object control.

Keywords

underwater object; rudder; hydrodynamic forces; general mathematical model

Hrčak ID:

38373

URI

https://hrcak.srce.hr/38373

Publication date:

29.6.2009.

Article data in other languages: croatian

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