| Popis: |
We derive the steering plane dynamics of an AUV that tows a very large payload. We address the case that the drag of the payload is many times that of the AUV, and for which the payload cannot be modeled as a disturbance with respect to the AUV model. Rather, the AUV and towed payload must be explicitly modeled as a coupled system composed of AUV and towed payload dynamics. The payload considered is a heavy-gauge rope, and we construct the rope dynamics using a lumped mass approach where the rope is discretized into a finite number of discrete links. A proportional feedback control system is presented for the steering autopilot, and the performance of the closed-loop system is assessed by numerical simulation. |
