Zenor, J.J., Murray-Smith, D.J., McGookin, E.W. and Crosbie, R.E. (2009) Development of a multi-rate simulation model of an unmanned underwater vehicle for real-time applications. Simulation Notes Europe, 19(3-4), pp. 47-54. (doi: 10.11128/sne.19.tn.09951)
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Abstract
This paper describes work involving the further development and refinement of a mathematical model of an unmanned underwater vehicle (UUV), together with the development of an associated real-time multi-rate simulation that includes both high-speed power electronic subsystems and slower components. The chosen vehicle uses a battery as its energy source and this feeds an a.c. motor drive through a d.c. to a.c. converter. The drive powers the vessel which is modelled as a six-degree of freedom vehicle with control surfaces. Tests carried out indicate that a careful choice of frame rates can increase the speed of solution by factors of several hundred over solution times when the shortest frame rate is used throughout. These multi-rate solutions were executed faster than real time on a typical laptop even when using 3-D graphical output for visualisation of vehicle motion. The conclusions of the paper are that the modelling and simulation of the UUV has provided a useful test-bed for ideas on multi-rate simulation and has demonstrated that multi-rate real-time simulation is feasible and useful for an application of this kind that includes very fast power electronic subsystems and relatively slow systems such as the vehicle and battery.
| Item Type: | Articles |
|---|---|
| Keywords: | Modelling and simulation, multi-rate, underwater vehicle. |
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | McGookin, Dr Euan and Murray-Smith, Professor David |
| Authors: | Zenor, J.J., Murray-Smith, D.J., McGookin, E.W., and Crosbie, R.E. |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| College/School: | College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity |
| Journal Name: | Simulation Notes Europe |
| Journal Abbr.: | SNE |
| Publisher: | Argesim |
| ISSN: | 2306-0271 |
| Related URLs: |
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