Unsteady analysis of the six DOF motion of a buoyantly rising submarine

Bettle, Mark; Gerber, A. G.; Watt, George D.

doi:10.1016/j.compfluid.2009.04.003

Cited by 70 publications

(29 citation statements)

References 13 publications

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“…Hydrodynamic analysis and maneuvering design of a test bed AUV named ISiMI is done by Jun et al [8]. 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.…”

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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“…Bettle et al (2009) performed computations of a surfacing Defence Research and Development Canada standard submarine to study the roll occurring during the surfacing maneuver. All appendages and the propeller were modeled as body forces, and the blowing of the ballast tanks was modeled by imposing direct changes in the location of the center of gravity and the body mass.…”

Section: Introductionmentioning

confidence: 99%

Submarine Maneuvers Using Direct Overset Simulation of Appendages and Propeller and Coupled CFD/Potential Flow Propeller Solver

Martín¹,

Michael²,

Carrica³

2015

Journal of Ship Research

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This article presents two approaches to simulate maneuvers of a model radio-controlled submarine. In the direct simulation approach, rudders, stern planes, and propellers are gridded and treated as moving objects using dynamic overset technology. The second approach couples the overset computational fluid dynamics (CFD) solver and a potential flow propeller code, with both codes exchanging velocities at the propeller plane and wake, body forces, and propeller forces and moments, whereas rudders and stern planes are still explicitly resolved. It is shown that during the maneuvers, the range of advance coefficients does not deviate much from the design point, making a coupled approach a valid choice for standard maneuvering simulations. By allowing time steps about an order of magnitude larger than for the direct simulation approach, the coupled approach can run about five times faster. The drawback is a loss of resolution in the wake as the direct propeller simulation can resolve blade vortical structures. Open water propeller curves were simulated with both the direct propeller approach and the coupled approach, showing that the coupled approach can match the direct approach performance curves for a wide range of advance coefficients. Simulations of a horizontal overshoot maneuver at two approach speeds were performed, as well as vertical overshoot and controlled turn maneuvers at high speed. Results show that both CFD approaches can reproduce the experimental results for all parameters, with errors typically within 10%.

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“…INTRODUCTION Quasi-steady state-space hydrodynamic models developed for AUVs typically employ some sort of empirical representation to account for control surface forces [1][2][3][4][5]. While varying degrees of complexity can be used to account for the apparent angle of attack, the control surfaces are generally treated as if they operate in a steady freestream flow.…”

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confidence: 99%

Asymmetrical wake and propulsor effects on control surface effectiveness on AUVs

Coe

Neu

2012

2012 Oceans

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This study considers the influences of wake asymmetries and propulsor effects on the forces and moments created by control surfaces. Traditional quasi-steady state-space models developed for autonomous underwater vehicles (AUVs) tend to neglect these effects. Reynolds-averaged Navier-Stokes (RANS) simulations were used to assess the impact of asymmetrical inflow due to forward appendages as well as changes in the flow field created by an operating propeller on control surface effectiveness. For the AUV tested, substantial asymmetries in the flow field near the upper and lower rudders create significant differences in their respective performances. This discrepancy between the rudders has the potential to create considerable and unsuspected maneuvering reactions. The presence of the propeller was also seen to noticeably influence the performance of the control surfaces.

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Unsteady analysis of the six DOF motion of a buoyantly rising submarine

Cited by 70 publications

References 13 publications

Robust control for horizontal plane motions of autonomous underwater vehicles

Robust control for horizontal plane motions of autonomous underwater vehicles

Submarine Maneuvers Using Direct Overset Simulation of Appendages and Propeller and Coupled CFD/Potential Flow Propeller Solver

Asymmetrical wake and propulsor effects on control surface effectiveness on AUVs

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