Development of a multi-rate simulation model of an unmanned underwater vehicle for real-time applications

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/

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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.
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
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