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    Modeling of ROV

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    Just Smile
    This document discusses key concepts for modeling the dynamics of underwater vehicles including: 1) It defines common frames of reference and degrees of freedom used to describe vehicle motion and orientation. 2) It covers transformations between body-fixed and inertial reference frames using Euler angles and quaternions. 3) It presents the kinetic and hydrodynamic models describing the rigid body dynamics, added masses, Coriolis/centripetal effects, and damping forces acting on the vehicle. 4) It discusses the hydrostatic properties including buoyancy and gravitational forces based on the vehicle's center of buoyancy. 5) It provides the equations of motion combining all dynamic effects for simulation and control of underwater vehicle

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    Modeling of ROV

    Uploaded by

    Just Smile
    36 views19 pages
    This document discusses key concepts for modeling the dynamics of underwater vehicles including: 1) It defines common frames of reference and degrees of freedom used to describe vehicle motion and orientation. 2) It covers transformations between body-fixed and inertial reference frames using Euler angles and quaternions. 3) It presents the kinetic and hydrodynamic models describing the rigid body dynamics, added masses, Coriolis/centripetal effects, and damping forces acting on the vehicle. 4) It discusses the hydrostatic properties including buoyancy and gravitational forces based on the vehicle's center of buoyancy. 5) It provides the equations of motion combining all dynamic effects for simulation and control of underwater vehicle

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    This document discusses key concepts for modeling the dynamics of underwater vehicles including: 1) It defines common frames of reference and degrees of freedom used to describe vehicle motion and orientation. 2) It covers transformations between body-fixed and inertial reference frames using Euler angles and quaternions. 3) It presents the kinetic and hydrodynamic models describing the rigid body dynamics, added masses, Coriolis/centripetal effects, and damping forces acting on the vehicle. 4) It discusses the hydrostatic properties including buoyancy and gravitational forces based on the vehicle's center of buoyancy. 5) It provides the equations of motion combining all dynamic effects for simulation and control of underwater vehicle

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    36 views19 pages

    Modeling of ROV

    Uploaded by

    Just Smile
    This document discusses key concepts for modeling the dynamics of underwater vehicles including: 1) It defines common frames of reference and degrees of freedom used to describe vehicle motion and orientation. 2) It covers transformations between body-fixed and inertial reference frames using Euler angles and quaternions. 3) It presents the kinetic and hydrodynamic models describing the rigid body dynamics, added masses, Coriolis/centripetal effects, and damping forces acting on the vehicle. 4) It discusses the hydrostatic properties including buoyancy and gravitational forces based on the vehicle's center of buoyancy. 5) It provides the equations of motion combining all dynamic effects for simulation and control of underwater vehicle

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    © All Rights Reserved
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    Notations

    Positions and
    No. DoF Forces and Moments Linear and angular Velocities
    Eulers angles

    1 Surge X

    2 Sway Y

    3 Heave Z

    4 Roll K

    5 Pitch M

    6 Yaw N
    Frames:

    {𝑛} frame : it is the tangential frame on the desired position


    {𝑏} frame : it is the fixed body frame
    Euler angle transformation
    defining the rotation angles
    Pitch
    about the x, y, and z axes as
    roll 𝜙, pitch 𝜃, and yaw 𝜓, can
    be used in the velocity
    transformation between {𝑛} Sway
    frame and {𝑏} frame

    Roll

    Surge
    Yaw Heave
    From {b} frame to {n} frame

    The transformation for linear velocities from {b} to {n} is given by:

    where and are the linear velocity vectors in {b} and {n}, respectively; and is
    the rotation matrix from {b} to {n} and computed as:

    Similarly, the transformation of angular velocities is given by


    Θ=TΘ(Θ)ωb

    where and Θ̇ are the angular velocity vectors in {b} and {n}
    is the angular transformation matrix from {b} to {n}
    Quaternions Transformation

    In order to avoid the singularity of the Euler angles, the use of unit quaternions
    containing four parameters is an alternative method. According to the study of quaternion
    kinematics (Chou 1992), a quaternion q is defined as a complex number formed by four
    units:
    q=[q0 q1 q2 q3]T
    where q0 is a real parameter and the other three units are imaginary parameters.
    Then the rotation matrix will be

    So, the transformation matrix from the vehicle body frame to the
    NED world reference frame using quaternion representation is
    given by:
    Kinetic model
    MRBv+CRBvv+MAvw+CAvwvw+Dvwvw+gη=τ

    where MRB ∈R6×6and MA ∈ ℝ6×6 are the rigid-body and added


    mass matrices
    is the external force and moment vector acting on the ROV
    CRBv ∈R6×6 is the rigid-body Coriolis and centripetal matrix
    induced by MRB due to the rotation of the body frame about {n}
    frame
    CAv ∈R6×6is the added mass Coriolis and centripetal matrix
    induced by MA due to the rotation of the body frame about the {n}
    frame
    Rigid body dynamics

    where 𝑚 is the mass of the vehicle, , and are the inertia moments about the 𝑥𝑏, 𝑦𝑏, and 𝑧𝑏
    axes in {b}, and , and are the inertia products (Fossen 2011); is the position of the
    center of gravity (CG) in relation to the center of the vehicle
    Rigid body dynamics

     Since the origin of the body-frame 𝑜𝑏 is placed at the geometric center of the ROV, the
    vehicle has symmetry in the XZ-plane and XY-plane . Accordingly, the rigid-body mass
    matrix can be simplified in which and are assumed whereas under the
    consideration that CG might not be the origin of 𝑜𝑏 on the z axis.
    Rigid body dynamics

    using operation on yields the result of the rigid-body Coriolis and centripetal matrix given
    by:
    Vehicle Hydrodynamics

    After affecting the external force on rigid body there will be added mass
    equation :

    For underwater vehicles the added masses will be :


    So, Coriolis and centripetal matrix can be calculated as:
    Hydrodynamic Damping

     The underwater vehicle damping will be :


    Hydrostatics

     the weight of the body and buoyancy force 𝐵 are determined by:

    The center of buoyancy (CB) of the vehicle is defined Since the vehicle has symmetry in the XZ-
    as rb=[xb,yb,zb]T. If the center of the vehicle’s body plane and XY-plane, the position of the center of
    frame is placed at the center of buoyancy, rb becomes: gravity (CG) of the vehicle rg becomes:
    rb=[0,0,0]T rg=[xg yg zg]T=[0,0,zg]T

    Alternatively, the gravitational and buoyancy force vector gη can be


    computed using quaternions expressed as:
    Control and Simulation Results
    Euler Transformation
    Xd= 5 m

    Zd= 5 m

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