SUMMARYThis paper describes a modeling approach to compute the lumped parameter hydrodynamic derivative matrices of an underwater multi-hull vehicle. The vehicle, modeled as a multi-body underwater system and denoted as cluster, can be composed by heterogeneous bodies with known dynamic parameters, rigidly connected. The nonlinear dynamic equations of the cluster and its parameters are derived by means of a modular approach, based on the composition of single basic elements. The ultimate objective is to derive a mathematical description of the multi-hull system that captures its most significant dynamics allowing to design model-based motion controllers and navigation filters. The modular nature of the resulting model can be exploited, by example, when control reconfiguration is to be dealt with in the presence of (possibly multiple) failures. The numerical simulation of a hypothetical cluster is presented and discussed.

中文翻译：

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水下多体船动力学建模

摘要本文描述了一种计算水下多体船集总参数流体动力导数矩阵的建模方法。该飞行器被建模为多体水下系统并表示为集群，可以由具有已知动态参数的异质体组成，刚性连接。基于单个基本元素的组成，通过模块化方法导出了集群的非线性动力学方程及其参数。最终目标是获得多船体系统的数学描述，以捕捉其最重要的动力学，从而允许设计基于模型的运动控制器和导航滤波器。例如，当在存在（可能是多个）故障的情况下要处理控制重新配置时，可以利用所得模型的模块化特性。