2A2-M06 Study of Underactuated Underwater Vehicle Using Counter Rotating Propellers : 2nd Report:Basic Experiments and Model Parameter Estimation(Underwater Robot and Mechatronics)

In this paper, basic experiments were carried out to identify parameters from the dynamic model of an underactuated Unmanned Underwater Vehicle (UUV) equipped with two counter rotating screw propellers. Measurement of counter moment and thrust generation along the longitudinal axis, relative to propellers rotation speed and direction show the effectiveness of the design. Moreover, a mathematical model was derived and computational simulation will be held to verify the matching between the theoretical model and the real robot performance.