Hydrodynamic performance calculation and motion simulation of an AUV with appendages

Zhao, Jingyi; Su, Yumin; Ju, Liu; Cao, Jian

doi:10.1109/emeit.2011.6023135

Cited by 5 publications

(2 citation statements)

References 4 publications

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“…In addition, unsteady analysis of 6-DOF motion of a buoyantly rising submarine is studied by Bettle et al [9]. Jinxin et al [10] studied the hydrodynamic performance and motion simulation of an AUV considering its appendages. A simple online algorithm named incremental least square support vector machines (SVM) method is employed by Xu et al [11] to identify the maneuvering parameters of AUV in diving plane.…”

Section: Literature Reviewmentioning

confidence: 99%

Robust control for horizontal plane motions of autonomous underwater vehicles

Kamarlouei

Ghassemi

2015

J Braz. Soc. Mech. Sci. Eng.

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Nowadays autonomous underwater vehicles (AUVs) are employed as unmanned machines in ocean industries. For instance AUVs play an important role in coastal area monitoring and investigating underwater pipe line in deep seas. In this paper, navigation of an AUV near free surface and the effect of wave disturbance and unmodeled hydrodynamics as uncertain terms in control system are addressed. To stabilize the roll motion of the vehicle a practical control mode in mini-UVs is applied. Firstly, a 6-DOF nonlinear dynamic simulator is developed and dynamic stability of the vehicle is investigated. Then, a feedback linearization method is applied to turn the nonlinear system into a convenient linear one, and then a robust technique is applied to guarantee the stability and performance of the system. In addition, a genetic algorithm method is employed for achieving the best gains in feedback linearization control law. Three constraints are considered for optimization including amplitude of sway, yaw and roll motions. Final results show an effective motion control of the AUV in horizontal plane. Meanwhile a reasonable performance of robust control in presence of wave disturbance and un-modeled hydrodynamics is achieved.

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Section: Literature Reviewmentioning

confidence: 99%

Robust control for horizontal plane motions of autonomous underwater vehicles

Kamarlouei

Ghassemi

2015

J Braz. Soc. Mech. Sci. Eng.

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“…In this paper, six hexahedron meshes were adopted by using a cutting mesh generator, and the total number of cells was 1.0 × 10 6 . The encryption process of meshing the AUH required a minimum mesh size of 7.5 × 10 −3 m to ensure an accurate solution for the turbulence model that could meet y+ values greater than 30 [28]. It is worth mentioning that, to clearly simulate the variable process of AUH immersing into the water, meshing encryption at the air-water interface needs to be arranged, and connatural and miscellaneous dimensions need to be activated in the cutting mesh generator.…”

Section: Meshing the Computational Domainmentioning

confidence: 99%

Computational Fluid Dynamics Study of Water Entry Impact Forces of an Airborne-Launched, Axisymmetric, Disk-Type Autonomous Underwater Hovering Vehicle

Chen

2019

Symmetry

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An autonomous underwater hovering vehicle (AUH) is a novel, dish-shaped, axisymmetric, multi-functional, ultra-mobile submersible in the autonomous underwater vehicle (AUV) family. Numerical studies of nonlinear, asymmetric water entry impact forces on symmetrical, airborne-launched AUVs from conventional single-arm cranes on a research vessel, or helicopters or planes, is significant for the fast and safe launching of low-speed AUVs into the target sea area in the overall design. Moreover, a single-arm crane is one of the important ways to launch AUVs with high expertise and security. However, AUVs are still subject to a huge load upon impact during water entry, causing damage to the body, malfunction of electronic components, and other serious accidents. This paper analyses the water entry impact forces of an airborne-launched AUH as a feasibility study for flight- or helicopter-launched AUHs in the future. The computational fluid dynamics (CFD) analysis software STAR-CCM+ solver was adopted to simulate AUH motions with different water entry speeds and immersion angles using overlapping grid technology and user-defined functions (UDFs). In the computational domain for a steady, incompressible, two-dimensional flow of water with identified boundary conditions, two components (two-phase flow) were modeled in the flow field: Liquid water and free surface air. The variations of stress and velocity versus time of the AUH and fluid structure deformation in the whole water entry process were obtained, which provides a reference for future structural designs of an AUH and appropriate working conditions for an airborne-launched AUH. This research will be conducive to smoothly carrying out the complex tasks of AUHs on the seabed.

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Analysis Hydrodynamic Performance of the Autonomous Underwater Vehicle for a Different Hull Shape

Tuan

Hien

2022

The AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing Engineering

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Hydrodynamic performance calculation and motion simulation of an AUV with appendages

Cited by 5 publications

References 4 publications

Robust control for horizontal plane motions of autonomous underwater vehicles

Robust control for horizontal plane motions of autonomous underwater vehicles

Computational Fluid Dynamics Study of Water Entry Impact Forces of an Airborne-Launched, Axisymmetric, Disk-Type Autonomous Underwater Hovering Vehicle

Analysis Hydrodynamic Performance of the Autonomous Underwater Vehicle for a Different Hull Shape

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