Urgency of the research. Currently, most machines go through computer modelling and simulation phase in their development cycle. The ability to formulate simple yet effective models helps to both decrease development cost and time. Target setting. Today many tasks are being accomplished by robots whether mobile robots or industrial robots. To simulate the behaviour of these robots a dynamic model is needed. These models can be very complex and the parameters to fill all the equations can be difficult to find, therefore simplifications need to be implemented and verified so that the models are still accurate. Actual scientific researches and issues analysis. A basic step in the development of new products is the simulation and modeling phase. Development of a computer model prior to development of a physical prototype saves time and resources.
Unfortunately, some models can be very complex and require parameters only acquirable from tests on physical systems. That is why often these models need to be heavily simplified which can lead to imprecise results. Often, verification of the
model is needed. One of such systems is the dynamic model of an Autonomous underwater vehicle (AUV). Uninvestigated parts of general matters defining. This article focuses on verification of a highly simplified dynamic simulation model of AUV.
The research objective. The aim of these research was to model a simplified dynamic model of an AUV moving through fluid with nonnegligible viscous properties and verifie the model by comparing simulation results with experimental results obtained by testing on the real AUV. The statement of basic materials. The analysis consists of an attempt to summarise the possible ways to simplify a general dynamic equation for movement of an AUV in a fluid with nonnegligible viscous properties and showing, that even such simplified model stays usable and bring with it reduction in complexity. Conclusions. This article shows the basic dynamic equations for describing the movement of a general AUV in a fluid with nonnegligible viscous properties and the possible simplification of this equation in regard to a specific construction of a real world AUV. The results gathered from the simulation model are then compared to experimental results performed on the physical AUV with the conclusion, that both datasets are matching within reasonable margins. This article serves as a good reminder of the importance and benefits of well establishing simplifications in a model of a real-life system.
Path Following for an Autonomous Underwater Vehicle (AUV) by Using a High-Gain Observer based on an AUV Dynamic Model
