Modular Dynamic Modeling and Development of Micro Autonomous Underwater Vehicle: Lancelet

Abstract

A dynamic model of AUV suitable for modular parameter estimation and dynamic modeling is established. The empirical methods for the hydrodynamic coefficients and added mass estimation are summarized, and the relationship between hydrodynamic coefficients and hydrodynamic derivatives is derived. A torpedo shaped micro AUV named Lancelet with a novel multi jet drive propulsion system is developed. The mechanical and electronic systems of the Lancelet are designed and implemented. The performance of the designed propulsion systems is tested, and the Lancelet?s special maneuverability is explored by open loop free swimming trials. A method of combining the empirical and parameter identification methods for accurate estimation of the hydrodynamic parameters of torpedo shaped AUVs is proposed and verified. The standard reference model method is proposed to address the modular dynamic modeling issues of the torpedo shaped AUV with empirical and experimental verification.