Dynamic Model and Control of a New Underwater Three-Degree-of-Freedom Tidal Energy Converter

Table 2

Main parameters for simulation (per each of the cylindrical torpedoes).

	Nominal value	Units
Number of torpedoes	3
Torpedo angle distribution	0, ,	rad
Length	0.608	m
Diameter	0.200	m
Volume	0.191	m^3
Real mass	19.1	kg
Added mass	15.3	kg
Friction term	79.4	N⋅s^2⋅m^−2
	9.81	m⋅s^−2
	1,000	Kg⋅m^−3
	0.400	m