Inverse simulation and analysis of underwater vehicle dynamics using feedback principles

Murray-Smith, D. J. (2014) Inverse simulation and analysis of underwater vehicle dynamics using feedback principles. Mathematical and Computer Modelling of Dynamical Systems, 20(1), pp. 45-65. (doi: 10.1080/13873954.2013.805146)

[img]
Preview
Text
88100.pdf - Accepted Version

687kB

Publisher's URL: http://dx.doi.org/10.1080/13873954.2013.805146

Abstract

Inverse simulation is a technique used in the modelling of dynamic systems that allows time histories of input variables to be found that generate required model output responses and provide inverse solutions in cases where analytical approaches to model inversion can present difficulties. This paper describes the application of inverse simulation to a nonlinear dynamic model of an underwater vehicle (UUV) and the determination of vehicle control inputs for specified manoeuvres. The approach to inverse simulation used in this application is based on the principles of feedback. Design issues relating to the UUV control surfaces and propeller thrust are highlighted through this procedure. The paper includes an outline of the nonlinear model of the UUV and typical sets of experimental conditions. Feedback loops are designed around the model for selected output variables and the inverse solutions are generated through simulation of this multi-input multi-output closed-loop system. It is shown that the feedback approach can provide inverse solutions for an appropriate choice of loop gain factors and integration time step using a fixed-step integration algorithm. Inverse solutions generated in this way are shown provide insight concerning issues of vehicle handling and manoeuvrability in a more direct fashion than is possible using conventional simulation methods.

Item Type:Articles (Other)
Additional Information:This is an Author's Accepted Manuscript of an article published in Mathematical and Computer Modelling of Dynamical Systems 06 June 2013 copyright Taylor & Francis, available online at: http://www.tandfonline.com/10.1080/13873954.2013.805146
Keywords:Simulation, inverse, nonlinear, model, feedback, underwater vehicle, actuator, manoeuvre.
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Murray-Smith, Professor David
Authors: Murray-Smith, D. J.
Subjects:Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Q Science > QA Mathematics > QA76 Computer software
T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
College/School:College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:Mathematical and Computer Modelling of Dynamical Systems
Journal Abbr.:MCMDS
Publisher:Taylor and Francis
ISSN:1387-3954
ISSN (Online):1744-5051
Copyright Holders:Copyright © 2013 Taylor & Francis
First Published:First published in Mathematical and Computer Modelling of Dynamical Systems 20(1):45-65
Publisher Policy:Reproduced in accordance with the copyright policy of the publisher

University Staff: Request a correction | Enlighten Editors: Update this record