共查询到17条相似文献,搜索用时 359 毫秒
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三维动态混合网格在AUV发射过程中的应用 总被引:1,自引:0,他引:1
为研究AUV从有界流场自航发射到无界流场的运动边界的扰流场,文章采用了三维动态混合网格方法进行数值模拟的策略.混合网格由三菱柱,四面体/六面体网格构成,当AUV运动时,靠近AUV的三菱柱网格随AUV运动,外层是静止的六面体网格,中部的四面体网格随AUV运动而变形或者重构.数值仿真结果给出了不同时刻AUV表面的压力分布、整个航程AUV的阻力系数变化,其值与理论结果吻合.同时研究了直径比对发射管航行的附加质量和阻力系数的影响,这为水下对接AUV提供了有效手段. 相似文献
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为更好地支持多类型水下机器人(AUV)的功能协同工作,进一步提高AUV的综合作业能力,本文针对喇叭口引导式回收坞站动态入坞过程中的碰撞问题,开展水下机器人动态对接技术研究。首先进行AUV的水下受力状况和碰撞相关参数的分析,在此基础上建立AUV入坞碰撞的物理模型,结合Adams/Matlab联合仿真技术,得到碰撞过程中的最大碰撞力,提高了仿真模型的实用性。同时,为解决动态入坞碰撞过程中AUV与移动坞站姿态变化较大的问题,本文设计一套AUV动态入坞的过程控制系统。仿真实验结果可知,该控制系统能够对AUV进行实时姿态调整,实现AUV在复杂场景下的动态回收任务,减少回收对接工作所需要的时间,更好地支持AUV的水下协同工作。 相似文献
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伴随着水下潜航器的进一步深入研究,AUV产品正朝着小型化、民用化的方向不断发展。以小型AUV为研究对象的水动力性能分析、路径规划、水下通信等问题成为AUV产品设计的核心所在。本文基于ITTC双参数波浪谱及漂移力计算公式,在Matlab中建立不规则波浪仿真模型,对AUV运动规律进行预测。搭建动力定位控制系统Simulink模型,基于粒子群算法优化PID控制器参数,对AUV进行定位控制研究。成功模拟小型AUV的工作水环境并搭建动力定位仿真台架,实现AUV的定位控制,为AUV水动力性能试验及动力定位系统的软硬件设计创造了条件,为小型AUV产品的设计实现奠定基础。 相似文献
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为了更好地了解AUV水下对接技术,本文对AUV水下对接技术的现状进行梳理,介绍各个国家对于AUV水下对接系统的研究成果。同时,为进一步阐明AUV水下对接系统的结构,按照自动化实现难度对国内外的AUV水下对接系统进行归类总结。根据整个对接过程中使用的传感器、水下环境和需要的定位信息等因素,对国内外AUV水下对接系统的对接阶段进行划分,并分别讨论各个阶段所需要的导航传感器和定位信息。对于对接精度问题,从对接干扰、对接失误等方面阐述了AUV水下对接时存在的问题和解决方案,并归纳对接控制策略。最后结合AUV对接技术的最新成果,从多个方向探讨了其发展趋势。 相似文献
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文章结合一种密度大于水的新型潜器—重水潜器(Heavier-than-water AUV,简称 HTW),采用 RANS 方法和重叠网格计算了该潜器的水动力性能和绕流流场。文中计算了不同攻角和漂角情况下重水潜器的阻力、升力及俯仰力矩,对其周围流场水动力学性能进行了分析,并通过流场的流动结构研究了受力随姿态变化的规律。文中将采用重叠网格方法的计算结果与 FLUENT 计算值以及风洞试验结果进行了比较,表明重叠网格方法可较好地模拟重水潜器的自由态绕流问题。该研究为该潜器的总体设计与运动控制提供了有价值的参考。 相似文献
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This paper researches on a kind of control architecture for autonomous undelwater vehicle (AUV). After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers: mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical. 相似文献
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提出一种针对无人自主式水下航行器的新型操纵方式--矢量推进方式;建立矢量推进方式下无人自主式水下航行器纵向运动方程.对矢量推进方式和普通推进方式下的水下航行器的操纵性进行对比性的操纵性仿真计算,计算结果表明,矢量推进方式可以满足水下航行器的操纵性要求. 相似文献
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[目的]为解决母艇携载的自主式水下航行器(AUV)在水下自主回收和对接的问题,基于惯导(INS)、声学超短基线定位(USBL)、光学等信号引导的多源数据融合,提出一种面向移动平台的AUV水下回收对接引导方法.[方法]为此,设计融合多传感器信息的扩展联邦卡尔曼滤波器,采用分散滤波并再经信息融合方法以提高滤波精度.分别以I... 相似文献
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Nikolay Burlutskiy Yaniss Touahmi Beom Hee Lee 《Journal of Marine Science and Technology》2012,17(3):315-329
Autonomous underwater vehicles (AUVs) have rapidly developed in the last few decades due to their autonomous properties in the investigation of an underwater environment. The goal of this paper is to develop a power efficient formation control for the cooperative motion of AUVs with a support vessel as a leader. In this paper, a kinematic algorithm for the joint motion of an AUV with a support vessel was developed and that algorithm was expanded for the formation of AUVs. The AUV yaw, surge and sway control loops were designed for that purpose. The complexing navigation system structure for the AUV was also developed. Simulation results demonstrated efficiency of the proposed kinematic algorithm for the joint motion of AUVs. Also, influence of lateral ocean current was considered. After development of the centralized leader?Cfollower formation control for the group of AUVs with a support vessel as a leader, we optimized a formation configuration in terms of power efficiency. Drag forces caused by AUV motion in the water can significantly influence power consumption. We investigated the relationship between the AUV's formation configuration, underwater coverage efficiency, communication quality and power consumption. As a result of research, we proposed a power efficient formation configuration for typical underwater operations. As a result, the effect of the AUV formation configuration on the power consumption was investigated and a trade-off solution for the optimal AUV positions in formation with minimal energy consumption, high coverage efficiency and small communication power consumption was derived. 相似文献
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To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages. 相似文献