Dynamic modelling of a hovering type autonomous underwater vehicle with ballast tank Online publication date: Thu, 28-Apr-2022
by Abdollah Karimi; Reza Hasanzadeh Ghasemi
International Journal of Modelling, Identification and Control (IJMIC), Vol. 38, No. 2, 2021
Abstract: In this paper, dynamic modelling of a hovering type autonomous underwater vehicle (HAUV), equipped with thruster and ballast tanks, is presented. Ballast tanks are among the equipment available for controlling AUVs. They provide high manoeuvring and stability capabilities for the robot. The use of ballast tanks in HAUV was not prevalent, and it was merely used in AUVs of torpedo shape type. The number and arrangement of the tanks for the robot are selected by considering that all the feasible degrees of freedom should also be achievable here by changing the buoyancy roll, pitch, and heave. Having the equations of motion rewritten based on the variable of the mass of the tanks, a nonlinear model of the desired robot was obtained. Eventually, several motion-time graphs were obtained by applying various kinds of inputs that indicate the significant capability of the mentioned tanks in exerting a force on the robot.
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