Numerical Investigation of Trajectory and Attitude Robustness of an Underwater Vehicle Considering the Uncertainty of Platform Velocity and Yaw Angle

Abstract

The vertically launched underwater vehicle always suffers various hydrodynamic disturbances in its water-emerging process due to the uncertainty of the launch platform motion. Based on the nested sparse grid based stochastic collocation method (NSSCM) and nonintrusive polynomial chaos method, the effect of uncertainty of platform velocity and yaw angle on robustness of vehicle's trajectory and attitude is numerically studied. Results indicate that the uncertainty stemming from platform motion propagates along vehicle's water-emerging process. As the negative horizontal velocity of vehicle gradually changes to positive direction, the uncertainty bar of horizontal velocity presents contracting-expanding mode with an “hourglass” shape while the uncertainty bar of horizontal displacement experiences a “spindle-shaped” one (expanding-contracting-expanding), which is a half cycle later compared with the velocity. The uncertain motion of platform enlarges the uncertainty bar of bottom force via its impact on the gas-leakage process of trail bubble, resulting in the increasing of uncertainty of vertical velocity. Pitching angle (attitude of vehicle) and pitching angular velocity of vehicle persist getting worse driven by the pressure difference between vehicle's front and back sides especially on head part. And their continuous increasing uncertainty bars are formed mainly due to the condition that pressure uncertainty of front side is larger than that on back side, which also leads to the increasing of uncertainty of horizontal force.

Effect of a pressure-equalizing film on the trajectory and attitude robustness of an underwater vehicle considering the uncertainty of the platform velocity

“…Since the exhaust process involves changing the density of pre-filled air in a chamber, the energy equation here is solved with the air set as the 'ideal-gas'. The interaction between the air and the water is worked out using the Mixture Model (see Ma, Chen, Yu, & Wang, 2019, for more detail).…”