engleski

General mathematical model of autonomous underwater object motion

In this paper an autonomous moving underwater object was considered. Underwater autonomous moving underwater 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). Mathematical model was carried out including static and dynamic stability. On this basis, all hydrodynamic forces and their moments were identified acting to the moving object. The position of the object was unambiguously determined in any moment by defining coordinate systems. On the basis of known relations of hydrodynamics and system energetic balances, self-mobile underwater object and water, the mathematical model of dynamics of underwater object is reached. Mathematical model defined in this way is prepared for computer usage of object control.

underwater object ; rudder ; hydrodynamic forces ; mathematical model

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