Trajectory and Attitude Control of an Underwater Towed Vehicle

2006 ◽  
Author(s):  
Jiaming Wu ◽  
Xuefeng Jin
Keyword(s):  
Numerical Simulation ◽  
Hydrodynamic Model ◽  
Attitude Control ◽  
Fuzzy Controller ◽  
Hydrodynamic Performance ◽  
Control Technique ◽  
Main Body ◽  
Time Step ◽  
Vehicle Simulation ◽  
Control Surfaces

A new concept of control technique to perform operation of trajectory maneuvering to a controllable underwater towed vehicle moving in a designated path with a required attitude is presented. A trajectory and attitude control technique for the towed vehicle is proposed in order to accomplish the vehicle’s trajectory and attitude manipulations. This technique is based on a fuzzy algorithm. The towed vehicle in the research consists of a cylindrical main body equipped with several active horizontal and vertical control surfaces. Numerical simulation on the hydrodynamic and control behavior of the towed vehicle under this control manipulation is conducted based on a fully 3-D hydrodynamic model of an underwater towed vehicle. In the model the governing equation of the towed cable is based on the Ablow and Schechter method. The six-degrees-of-freedom equations of motion for an underwater vehicle simulation proposed by Gertler and Hagen are adopted to estimate the hydrodynamic performance of the towed vehicle. In numerical simulation the deflections of vehicle’s control surfaces are governed by the proposed fuzzy controller to manipulate the vehicle traveling along a 3-D stipulated trajectory configuration and required attitude. The values of the deflections are taken as input parameters for the hydrodynamic model at every time step. The performance of the towed vehicle under different designated trajectory and attitude control manipulations can then be investigated with the hydrodynamic model.

Numerical Simulation Study on the Recovery Process of Autonomous Underwater Vehicle

2021 ◽  
Author(s):  
Weigang Huang ◽  
Donglei Zhang ◽  
Jiawei Yu ◽  
Tao He ◽  
Xianzhou Wang
Keyword(s):  
Numerical Simulation ◽  
Flow Field ◽  
Autonomous Underwater Vehicle ◽  
Flow Characteristics ◽  
Recovery Process ◽  
Underwater Vehicle ◽  
Hydrodynamic Performance ◽  
Time Step ◽  
Convergence Test ◽  
Motion Paths

Abstract AUV (Autonomous Underwater Vehicle) recovery is considerably influenced by the nearby flow field and simulations of AUV in different motion paths in the wake of a submarine with a propeller are presented in this paper. A commercial CFD solver STAR CCM+ has been used to research the motion and flow characteristics of AUV, which using the advanced computational continuum mechanics algorithms. The DARPA (Defense Advanced Research Projects Agency) SUBOFF Submarine (L1 = 4.356m) propelled with INSEAN (Italian Ship Model Basin) E1619 propeller is used in this study, and the self-propulsion characteristics of the propeller at an incoming flow velocity of 2.75m/s are obtained through numerical simulation and results are compared with the available experimental data to prove the accuracy of the chosen investigation methodology. A grid/time-step convergence test is performed for verification study. AUV (L2 = 0.4356m) is a smaller-scale SUBOFF without a sail, which approaches the submarine in different motion paths in the submarine wake at a relative speed combined with the dynamic overlapping grid technology. The hydrodynamic performance of the AUV when approaching the submarine and the velocity distribution of the surrounding flow field are analyzed, which provides a useful reference for underwater recovery of the AUV.

scholarly journals 3-D Simulation of Vertical-Axial Tidal Current Turbine

2016 ◽  
Vol 23 (4) ◽  
pp. 73-83 ◽  
Author(s):  
Zhang Zhiyang ◽  
Ma Yong ◽  
Jiang Jin ◽  
Liu Weixing ◽  
Ma Qingwei
Keyword(s):  
Numerical Simulation ◽  
Tidal Current ◽  
Simple Structure ◽  
Hydrodynamic Performance ◽  
Control Technique ◽  
Fluid Field ◽  
Improve Accuracy ◽  
Tidal Current Turbine ◽  
Current Turbine ◽  
Dynamics Method

Abstract Vertical-axial tidal current turbine is the key for the energy converter, which has the advantages of simple structure, adaptability to flow and uncomplex convection device. It has become the hot point for research and application recently. At present, the study on the hydrodynamic performance of vertical-axial tidal current turbine is almost on 2-D numerical simulation, without the consideration of 3-D effect. CFD (Computational Fluid Dynamics) method and blade optimal control technique are used to improve accuracy in the prediction of tidal current turbine hydrodynamic performance. Numerical simulation of vertical-axial tidal current turbine is validated. Fixed and variable deflection angle turbine are comparatively studied to analysis the influence of 3-D effect and the character of fluid field and pressure field. The method, put the plate on the end of blade, of reduce the energy loss caused by 3-D effect is proposed. The 3-D CFD numerical model of vertical-axial tidal current turbine hydrodynamic performance in this study may provide theoretical, methodical and technical reference for the optimal design of turbine.

scholarly journals Thrust Characteristics of Ducted Propeller and Hydrodynamics of an Underwater Vehicle in Control Motions

2021 ◽  
Vol 9 (9) ◽  
pp. 940
Author(s):  
Jiaming Wu ◽  
Yizhe Dou ◽  
Haiyan Lv ◽  
Chenghua Ma ◽  
Le Zhong ◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Hybrid Algorithm ◽  
Stokes Equations ◽  
Underwater Vehicle ◽  
Flow Fields ◽  
Dynamic Mesh ◽  
Hydrodynamic Performance ◽  
Main Body ◽  
Sliding Mesh ◽  
Ducted Propellers

A numerical technique to simulate the hydrodynamic behavior of ducted propellers attached to an underwater vehicle traveling under the mutually interacting flow fields of the vehicle and the propellers is proposed; the hydrodynamic performance of the propellers and the hydrodynamic loading on the main body of the vehicle when it is in different kinds of motion is investigated numerically. In the research, 3D geometric models of the duct, propeller, and main body of the vehicle are first constructed according to their geometrical features. A computational fluid dynamics (CFD) technique based on the hybrid algorithm of dynamic mesh-nested sliding mesh is applied to solve the Navier–Stokes equations that govern the fluid motion around the duct, propeller, and main body of the vehicle when it is in motion. These equations are solved numerically with the CFD code Fluent. With the proposed numerical simulation technique, the hydrodynamic characteristics of the thrusts generated by the ducted propellers and the loading on the main body in the vehicle system under the mutually interacting flow fields are observed. The results of our numerical simulation indicate that the hybrid algorithm of dynamic mesh-nested sliding mesh can simulate multiple degrees of freedom of motion in underwater vehicle systems. In different motion states, the main body exerts a significant influence on the investigated flow fields; during the vehicle motions, negative wakes are formed on both sides of the main body, which lead to a decrease in the thrusts generated by the propellers on both sides. The thrust of the middle propeller is greater than that of the normal single one because of the obstructing effect in the tunnel caused by the main body.

Trajectory Following of a Tethered Underwater Robot With Multiple Control Techniques

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Jiaming Wu ◽  
Dongjun Chen
Keyword(s):  
Stokes Equations ◽  
Fluid Motion ◽  
Hydrodynamic Performance ◽  
Control Technique ◽  
Underwater Robot ◽  
Main Body ◽  
Multiple Control ◽  
Control Techniques ◽  
Umbilical Cable ◽  
Ducted Propellers

A three-dimensional hydrodynamics and control model to simulate a tethered underwater robot system is proposed. The fluid motion around the robot main body with control ducted propellers is governed by the Navier–Stokes equations, and multiple sliding mesh technique is applied for the numerical solution of the equations. The governing equation of umbilical cable is based on the Ablow and Schechter method. The six degrees-of-freedom equations of motion for underwater vehicle simulations are adopted to estimate the hydrodynamic performance of the underwater robot. In the model, a hybrid feed-forward and feedback control technique is applied to adjust the length of the umbilical cable, and the incremental proportional-integral-derivative (PID) control algorithm is adopted to regulate the rotating speeds of the ducted propellers. The numerical results indicate that the multiple control techniques applied in this paper are feasible and effective, and adjusting the length of the umbilical cable is largely responsible for the vertical trajectory control to the robot, while regulating the rotating speeds of the propellers plays a leading role in the horizontal trajectory manipulation, the deviation between the designated trajectory and the controlled one is acceptable.

scholarly journals Fuzzy Logic for Intelligent Control System Using Soft Computing Applications

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2617
Author(s):  
Catalin Dumitrescu ◽  
Petrica Ciotirnae ◽  
Constantin Vizitiu
Keyword(s):  
Decision Making ◽  
Fuzzy Logic ◽  
Soft Computing ◽  
Intelligent Control ◽  
Fuzzy Controller ◽  
Control Technique ◽  
Distributed Intelligence ◽  
High Level ◽  
The Impact ◽  
Fuzzy Subsets

When considering the concept of distributed intelligent control, three types of components can be defined: (i) fuzzy sensors which provide a representation of measurements as fuzzy subsets, (ii) fuzzy actuators which can operate in the real world based on the fuzzy subsets they receive, and, (iii) the fuzzy components of the inference. As a result, these elements generate new fuzzy subsets from the fuzzy elements that were previously used. The purpose of this article is to define the elements of an interoperable technology Fuzzy Applied Cell Control-soft computing language for the development of fuzzy components with distributed intelligence implemented on the DSP target. The cells in the network are configured using the operations of symbolic fusion, symbolic inference and fuzzy–real symbolic transformation, which are based on the concepts of fuzzy meaning and fuzzy description. The two applications presented in the article, Agent-based modeling and fuzzy logic for simulating pedestrian crowds in panic decision-making situations and Fuzzy controller for mobile robot, are both timely. The increasing occurrence of panic moments during mass events prompted the investigation of the impact of panic on crowd dynamics and the simulation of pedestrian flows in panic situations. Based on the research presented in the article, we propose a Fuzzy controller-based system for determining pedestrian flows and calculating the shortest evacuation distance in panic situations. Fuzzy logic, one of the representation techniques in artificial intelligence, is a well-known method in soft computing that allows the treatment of strong constraints caused by the inaccuracy of the data obtained from the robot’s sensors. Based on this motivation, the second application proposed in the article creates an intelligent control technique based on Fuzzy Logic Control (FLC), a feature of intelligent control systems that can be used as an alternative to traditional control techniques for mobile robots. This method allows you to simulate the experience of a human expert. The benefits of using a network of fuzzy components are not limited to those provided distributed systems. Fuzzy cells are simple to configure while also providing high-level functions such as mergers and decision-making processes.

scholarly journals Design of Satellite Attitude Control Algorithm Based on the SDRE Method Using Gas Jets and Reaction Wheels

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Luiz C. G. de Souza ◽  
Victor M. R. Arena
Keyword(s):  
Attitude Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Algorithm Design ◽  
Large Angle ◽  
Space Mission ◽  
Control Technique ◽  
Gas Jets ◽  
State Dependent ◽  
Highly Nonlinear

An experimental attitude control algorithm design using prototypes can minimize space mission costs by reducing the number of errors transmitted to the next phase of the project. The Space Mechanics and Control Division (DMC) of INPE is constructing a 3D simulator to supply the conditions for implementing and testing satellite control hardware and software. Satellite large angle maneuver makes the plant highly nonlinear and if the parameters of the system are not well determined, the plant can also present some level of uncertainty. As a result, controller designed by a linear control technique can have its performance and robustness degraded. In this paper the standard LQR linear controller and the SDRE controller associated with an SDRE filter are applied to design a controller for a nonlinear plant. The plant is similar to the DMC 3D satellite simulator where the unstructured uncertainties of the system are represented by process and measurements noise. In the sequel the State-Dependent Riccati Equation (SDRE) method is used to design and test an attitude control algorithm based on gas jets and reaction wheel torques to perform large angle maneuver in three axes. The SDRE controller design takes into account the effects of the plant nonlinearities and system noise which represents uncertainty. The SDRE controller performance and robustness are tested during the transition phase from angular velocity reductions to normal mode of operation with stringent pointing accuracy using a switching control algorithm based on minimum system energy. This work serves to validate the numerical simulator model and to verify the functionality of the control algorithm designed by the SDRE method.

scholarly journals Fuzzy Stabilization for Nonlinear Discrete Ship Steering Stochastic Systems Subject to State Variance and Passivity Constraints

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Wen-Jer Chang ◽  
Bo-Jyun Huang ◽  
Po-Hsun Chen
Keyword(s):  
Linear Matrix Inequality ◽  
Discrete Time ◽  
Stochastic Systems ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Control Technique ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Ship Steering

For nonlinear discrete-time stochastic systems, a fuzzy controller design methodology is developed in this paper subject to state variance constraint and passivity constraint. According to fuzzy model based control technique, the nonlinear discrete-time stochastic systems considered in this paper are represented by the discrete-time Takagi-Sugeno fuzzy models with multiplicative noise. Employing Lyapunov stability theory, upper bound covariance control theory, and passivity theory, some sufficient conditions are derived to find parallel distributed compensation based fuzzy controllers. In order to solve these sufficient conditions, an iterative linear matrix inequality algorithm is applied based on the linear matrix inequality technique. Finally, the fuzzy stabilization problem for nonlinear discrete ship steering stochastic systems is investigated in the numerical example to illustrate the feasibility and validity of proposed fuzzy controller design method.

scholarly journals Numerical Simulation and Hydrodynamic Performance Predicting of 2 Two-Dimensional Hydrofoils in Tandem Configuration

2021 ◽  
Vol 9 (5) ◽  
pp. 462
Author(s):  
Yuchen Shang ◽  
Juan J. Horrillo
Keyword(s):  
Numerical Simulation ◽  
Numerical Model ◽  
Resource Constraints ◽  
Lift Coefficient ◽  
Parametric Method ◽  
Experimental Results ◽  
Hydrodynamic Performance ◽  
Tandem Configuration ◽  
Artificial Neural Network Ann ◽  
Naca 0012

In this study we investigated the performance of NACA 0012 hydrofoils aligned in tandem using parametric method and Neural Networks. We use the 2D viscous numerical model (STAR-CCM+) to simulate the hydrofoil system. To validate the numerical model, we modeled a single NACA 0012 configuration and compared it to experimental results. Results are found in concordance with the published experimental results. Then two NACA 0012 hydrofoils in tandem configuration were studied in relation to 788 combinations of the following parameters: spacing between two hydrofoils, angle of attack (AOA) of upstream hydrofoil and AOA of downstream hydrofoil. The effects exerted by these three parameters on the hydrodynamic coefficients Lift coefficient (CL), Drag Coefficient (CD) and Lift-Drag Ratio (LDR), are consistent with the behavior of the system. To establish a control system for the hydrofoil craft, a timely analysis of the hydrodynamic system is needed due to the computational resource constraints, analysis of a large combination and time consuming of the three parameters established. To provide a broader and faster way to predict the hydrodynamic performance of two hydrofoils in tandem configuration, an optimal artificial neural network (ANN) was trained using the large combination of three parameters generated from the numerical simulations. Regression analysis of the output of ANN was performed, and the results are consistent with numerical simulation with a correlation coefficient greater than 99.99%. The optimized spacing of 6.6c are suggested where the system has the lowest CD while obtaining the highest CL and LDR. The formula of the ANN was then presented, providing a reliable predicting method of hydrofoils in tandem configuration.

Effect of Geometric Parameters of New Semisubmersible Platform on Stability and Hydrodynamic Performance

2021 ◽  
Author(s):  
Tianying Wang ◽  
Yanjun Zhou ◽  
Honglin Tang ◽  
Shihua Zhang ◽  
Haiqing Tian
Keyword(s):  
Geometric Parameters ◽  
Hydrodynamic Performance ◽  
Geometrical Parameters ◽  
Main Body ◽  
Floating Bodies ◽  
Full Picture ◽  
New Type ◽  
Design Plan ◽  
The Stability ◽  
Shape Characteristics

Abstract The JCSM concept (short for Jackup Combined Semisubmersible Multifunction Platform) is a new type of semisubmersible platform presented by the first author, which overcomes the shortcomings of the available semisubmersible platforms, and combines the advantages of the traditional semisubmersible platform, the Jackup platform and the new FPSO concept - IQFP. Due to the complicated interaction between stability and hydrodynamic performance, it is necessary to explore the effect of geometrical parameters of the main body on the stability and hydrodynamic performance in order to obtain the optimal design plan of a JCSM platform. Firstly, the structure components and innovations of the JCSM were briefly reviewed in order to facilitate readers to understand its full picture. Then, six independent geometric parameters were selected by carefully studying the shape characteristics of the initial design plan of a JCSM study case. Furthermore, the stability heights and motion responses of various floating bodies of the JCSM case with different geometric parameters in wave were calculated using boundary element method based on potential flow theory. Lastly, effect of the shape parameters on stability and hydrodynamic performance of the JCSM was qualitatively evaluated. The research would shed lights on the shape design of the JCSM main body.

On the Friction Coefficient in the Numerical Simulation of Tidal Wave Propagation

2010 ◽  
Author(s):  
Z. Y. Song ◽  
C. Cheng ◽  
F. M. Xu ◽  
J. Kong
Keyword(s):  
Numerical Simulation ◽  
Wave Propagation ◽  
Friction Factor ◽  
Tidal Wave ◽  
Computational Time ◽  
Numerical Dissipation ◽  
Courant Number ◽  
Time Step ◽  
Large Time Step ◽  
The Relationship

Based on the analytical solution of one-dimensional simplified equation of damping tidal wave and Heuristic stability analysis, the precision of numerical solution, computational time and the relationship between the numerical dissipation and the friction dissipation are discussed with different numerical schemes in this paper. The results show that (1) when Courant number is less than unity, the explicit solution of tidal wave propagation has higher precision and requires less computational time than the implicit one; (2) large time step is allowed in the implicit scheme in order to reduce the computational time, but the precision of the solution also reduce and the calculation precision should be guaranteed by reducing the friction factor: (3) the friction factor in the implicit solution is related to Courant number, presented as the determined friction factor is smaller than the natural value when Courant number is larger than unity, and their relationship formula is given from the theoretical analysis and the numerical experiments. These results have important application value for the numerical simulation of the tidal wave.

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