Reduced Order Model of a Generic Submarine for Maneuvering Near the Surface
Systems and Control
2022-12-21 v1 Robotics
Systems and Control
Abstract
A reduced order model of a generic submarine is presented. Computational fluid dynamics (CFD) results are used to create and validate a model that includes depth dependence and the effect of waves on the craft. The model and the procedure to obtain its coefficients are discussed, and examples of the data used to obtain the model coefficients are presented. An example of operation following a complex path is presented and results from the reduced order model are compared to those from an equivalent CFD calculation. The controller implemented to complete these maneuvers is also presented.
Keywords
Cite
@article{arxiv.2212.09821,
title = {Reduced Order Model of a Generic Submarine for Maneuvering Near the Surface},
author = {J. Ezequiel Martin and Maxwell Hammond and Nicholas Rober and Yakin Kim and Venanzio Cichella and Pablo Carrica},
journal= {arXiv preprint arXiv:2212.09821},
year = {2022}
}
Comments
Presented at the 34th Symposium on Naval Hydrodynamics, Washington DC, USA, 26 June - 1 July 2022