Empirical Modeling of 2-Degree-of-Freedom Azimuth Underwater Thruster Using a Signal Compression Method

نویسندگان

چکیده

This paper presents an empirical modeling of a 2-Degree-of-Freedom (DoF) azimuth thruster using the signal compression method. The has gimbal mechanism with two servo motors and generates thrust in arbitrary directions. can reduce number thrusters underwater robot contribute to compact design. When is controlled thrusters, influence from rotational motion be considered, dynamic model needed. It difficult derive analytical because system depends on complicated fluid dynamics. In this study, models force moment for were derived practical use through frequency analysis. A method effectively extract domain just mechanically constrained response. Experiments carried out force/torque sensor that was connected cantilever water tank. analyzed Bode plots, coefficients curve fitting. verified by validation experiment.

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ژورنال

عنوان ژورنال: Applied sciences

سال: 2021

ISSN: ['2076-3417']

DOI: https://doi.org/10.3390/app11083517