Experimental study on a controllable underwater towed system

Wu, Jiaming; Ye, Jiawei; Yang, Cheng; Chen, Yuanming; Tian, Huiping; Xiong, Xiaohui

doi:10.1016/j.oceaneng.2004.12.014

Cited by 24 publications

(6 citation statements)

References 10 publications

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“…One of which is due to hydrodynamic forces. For instance, hydrodynamic and control behaviors of a towed underwater vehicle were examined by laboratory experiments 19 . The other nonlinearity stems from dynamics of the flexible towing cable, which are largely influential to the whole dynamics.…”

Section: Introductionmentioning

confidence: 99%

Stability analyses on a towed underwater vehicle motion control system using a high‐gain observer

Minowa¹,

Toda

2021

Adv Control Appl

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This paper presents stability analyses on a towed underwater vehicle (TUV) motion control system using movable wings. The control method utilized is an output‐feedback controller based on linear state‐feedback control and a high‐gain observer. In order to analyze the closed‐loop stability of the system, the singular perturbation method is employed. Not only the asymptotic stability of the system is proved, but also an estimate of its region of attraction is derived. To describe a region of attraction, we propose a method by employing a hyper rhombus, which is quite suitable for quadratic Lyapunov functions. Further, to obtain a less conservative estimate, a state‐space‐scaling method is devised and its efficacy is evaluated by comparing with the conventional estimation method. Then, results of regulation simulations with various initial conditions are provided, which explores the consistency and gap between the theoretical estimate and the simulation results, and the robustness of the control system. Finally, a depth‐tracking control system via switching controllers is constructed according to the results of the stability analysis which investigates configuration of multiple equilibria with different depths and their regions of attraction, and demonstration simulation results are presented to illustrate the validity of the perspective given by the stability analysis.

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Section: Introductionmentioning

confidence: 99%

Stability analyses on a towed underwater vehicle motion control system using a high‐gain observer

Minowa¹,

Toda

2021

Adv Control Appl

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“…The configuration's shape had no positive effect on the drag force for the fleet. Wu et al [12] designed a controllable underwater towing system and examined the hydrodynamic and control behaviors using towing experiments and the Charge Coupled Device (CCD) underwater photogrammetric technique. Go and Ahn [13] proposed a method for determining hydrodynamic coefficients by using the Computational Fluid Dynamics (CFD) method to simulate the working conditions of a towed-fish.…”

Section: Introductionmentioning

confidence: 99%

Experimental and Numerical Model Investigations of the Underwater Towing of a Subsea Module

Zan

Guo

Yuan

et al. 2019

JMSE

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In underwater towing operations, the drag force and vertical offset angle of towropes are important considerations when choosing and setting up towing equipment. The aim of this paper is to study the variation in drag force, vertical offset angle, resistance, and attitude for towing operations with a view to optimizing these operations. An underwater experiment was conducted using a 1:8 scale physical model of a subsea module. A comprehensive series of viscous Computational Fluid Dynamics (CFD) simulations were carried out based on Reynolds-averaged Navier–Stokes equations for uniform velocity towing. The results of the simulation were compared with experimental data and showed good agreement. Numerical results of the vorticity field and streamlines at the towing speeds were presented to analyze the distribution of vortexes and flow patterns. The resistance components were analyzed based on the numerical result. It was found that the lateral direction was a better direction for towing operations because of the smaller drag force, resistance, and offset angle. Similar patterns and locations of streamlines and vortexes were present in both the longitudinal and lateral directions, the total resistance coefficient decreases at a Reynolds number greater than that of a cylinder.

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“…In this introductory part, we hereafter detail a short literature survey about electrification in ship systems and all-electric ship challenges [12][13][14][15], and about active thrusters with dynamic positioning (DP) capability criteria [16,17] and controlled towed and self-propulsive systems [18,19]. Next section is dedicated to bow thrusters.…”

Section: Introduction mentioning

confidence: 99%

Untitled

2016

JEPE

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Bow thrusters usually are hydraulic and mechanically driven engines, used for the positioning maneuvers of River and sea boats. The peculiarity of these systems operating on short time intervals is their low rate of use (approximately 2%) but requiring maximal power. The main purpose of the work is to propose an innovative electrical hybridization of the bow thruster for a river tugboat. This electrification solution enables the bow thruster to operate with no-emissions, reduced noise and is a subsystem of green ship. Main challenge is to manage high torque and low speed requirements of the bow thruster system during the positioning maneuvers, by adding a dynamic electrical storage system, based on high capacitance value Supercapacitors, and in association with the electrified propeller motor. The knowledge concerns hybrid electrification, involving new-technology elements, energy storage based on supercapacitors, the high amplitude low speed torque control strategy. With fully reversible electrical motorization, the propeller is able to operate for both direct-reverse ways of rotation. Proposed electrical solution would hence provide large expected benefits in terms of energy efficiency, compactness, weights, costs, and contribute to a more eco-friendly ship. Numerical simulation and first results on laboratory test bench validate the proposed electrification concept.

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Experimental study on a controllable underwater towed system

Cited by 24 publications

References 10 publications

Stability analyses on a towed underwater vehicle motion control system using a high‐gain observer

Stability analyses on a towed underwater vehicle motion control system using a high‐gain observer

Experimental and Numerical Model Investigations of the Underwater Towing of a Subsea Module

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