共查询到20条相似文献,搜索用时 250 毫秒
1.
2.
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
3.
水下运动物体在相互接近过程中的水动力计算 总被引:6,自引:1,他引:5
用面元法计算了两个水下物体在相互接近过程中对水动力的影响,给出了水动力系统系数随物体间距离的变化曲线。该计算程序经对圆球的计算值与试验值比较了得到了验证。本研究对水下双潜器的近距离协同作业和潜器在接近障碍物过程中的运动控制能够提供较好的数学模型。 相似文献
4.
《船舶与海洋工程学报》2021,(2)
There is much need for autonomous underwater vehicles(AUVs) for inspection and mapping purposes.Most conventional AUVs use torpedo-shaped single-rigid hull,because of which their manoeuvrability is limited.Moreover,any increase in payload results in a larger hull size and the turning diameter,limiting its operation in constrained areas.As a solution to this problem,we develop M-Hull,a subsurface mapping AUV with a modular-split hull design that provides better manoeuvrability than a conventional torpedo-shaped vehicle.At the same time,it has more agility than an unconventional bio-inspired snake-like vehicle though their designs look similar.This approach makes it a hybrid solution between conventional torpedo-shaped AUVs and unconventional bio-inspired vehicles.We focus on improving the turning diameter during the mapping operation,and hence this paper concentrates on the dynamic aspects of the 2 D turning motion of the vehicle.It will provide the relationship between turning speed,thrust,and joint torque requirements for the multi-hull underwater vehicle.Different turning modes are compared to choose an optimum turning configuration,and the critical speed is calculated for the vehicle's safe operation.In the end,the modelling is verified using the experimental data.One can follow the method followed here for the 2 D motion analysis of similar underwater vehicles. 相似文献
5.
6.
7.
8.
9.
《船舶与海洋工程学报》2020,(1)
To detect weak underwater acoustic signals radiated by submarines and other underwater equipment, an effective line spectrum enhancement algorithm based on Kalman filter and FFT processing is proposed. The proposed algorithm first determines the frequency components of the weak underwater signal and then filters the signal to enhance the line spectrum, thereby improving the signal-to-noise ratio(SNR). This paper discussed two cases: one is a simulated signal consisting of a dual-frequency sinusoidal periodic signal and Gaussian white noise, and the signal is received after passing through a Rayleigh fading channel;the other is a ship signal recorded from the South China Sea. The results show that the line spectrum of the underwater acoustic signal could be effectively enhanced in both cases, and the filtered waveform is smoother. The analysis of simulated signals and ship signal reflects the effectiveness of the proposed algorithm. 相似文献
10.
11.
CFD理论黏性流场中三维振动水翼的非定常水动力性能(英文) 总被引:1,自引:0,他引:1
The motion of the fins and control surfaces of underwater vehicles in a fluid is an interesting and challenging research subject.
Typically the effect of fin oscillations on the fluid flow around such a body is highly unsteady, generating vortices and
requiring detailed analysis of fluid-structure interactions. An understanding of the complexities of such flows is of interest
to engineers developing vehicles capable of high dynamic performance in their propulsion and maneuvering. In the present study,
a CFD based RANS simulation of a 3-D fin body moving in a viscous fluid was developed. It investigated hydrodynamic performance
by evaluating the hydrodynamic coefficients (lift, drag and moment) at two different oscillating frequencies. A parametric
analysis of the factors that affect the hydrodynamic performance of the fin body was done, along with a comparison of results
from experiments. The results of the simulation were found in close agreement with experimental results and this validated
the simulation as an effective tool for evaluation of the unsteady hydrodynamic coefficients of 3-D fins. This work can be
further be used for analysis of the stability and maneuverability of fin actuated underwater vehicles. 相似文献
12.
一种基于PSO优化HWFCM的快速水下图像分割算法 总被引:3,自引:0,他引:3
The S/N of an underwater image is low and has a fuzzy edge.If using traditional methods to process it directly,the result is not satisfying.Though the traditional fuzzy C-means algorithm can sometimes divide the image into object and background,its time-consuming computation is often an obstacle.The mission of the vision system of an autonomous underwater vehicle (AUV) is to rapidly and exactly deal with the information about the object in a complex environment for the AUV to use the obtained result to execute the next task.So,by using the statistical characteristics of the gray image histogram,a fast and effective fuzzy C-means underwater image segmentation algorithm was presented.With the weighted histogram modifying the fuzzy membership,the above algorithm can not only cut down on a large amount of data processing and storage during the computation process compared with the traditional algorithm,so as to speed up the efficiency of the segmentation,but also improve the quality of underwater image segmentation.Finally,particle swarm optimization (PSO) described by the sine function was introduced to the algorithm mentioned above.It made up for the shortcomings that the FCM algorithm can not get the global optimal solution.Thus,on the one hand,it considers the global impact and achieves the local optimal solution,and on the other hand,further greatly increases the computing speed.Experimental results indicate that the novel algorithm can reach a better segmentation quality and the processing time of each image is reduced.They enhance efficiency and satisfy the requirements of a highly effective,real-time AUV. 相似文献
13.
Valuable mineral resources are widely distributed throughout the seabed. autonomous underwater vehicles (AUVs) are preferable
to remotely-operated vehicles (ROVs) when probing for such mineral resources as the extensive exploration area makes it difficult
to maintain contact with operators. AUVs depend on batteries, so their power consumption should be reduced to extend exploration
time. Power for conventional marine instrument systems is incorporated in their waterproof sealing. External intermittent
control of this power source until termination of exploration is challenging due to limitations imposed by the underwater
environment. Thus, the AUV must have a power control system that can improve performance and maximize use of battery capacity.
The authors developed such a power control system with a three-step algorithm. It automatically detects underwater operational
states and can limit power, effectively decreasing power consumption by about 15%. 相似文献
14.
Mohammad Pourmahmood Aghababa Mohammad Hossein Amrollahi Mehdi Borjkhani Electrical 《船舶与海洋工程学报》2012,11(3):378-386
In this paper,an underwater vehicle was modeled with six dimensional nonlinear equations of motion,controlled by DC motors in all degrees of freedom.Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a numerical solution of a nonlinear optimal control problem(NOCP).An energy performance index as a cost function,which should be minimized,was defined.The resulting problem was a two-point boundary value problem(TPBVP).A genetic algorithm(GA),particle swarm optimization(PSO),and ant colony optimization(ACO) algorithms were applied to solve the resulting TPBVP.Applying an Euler-Lagrange equation to the NOCP,a conjugate gradient penalty method was also adopted to solve the TPBVP.The problem of energetic environments,involving some energy sources,was discussed.Some near-optimal paths were found using a GA,PSO,and ACO algorithms.Finally,the problem of collision avoidance in an energetic environment was also taken into account. 相似文献
15.
为研究水下航行体的纵向速度对其余自由度运动所产生的影响及其自身所承受的静力学作用,在分析水下航行体运动模型的基础上,提出了一种改进S面运动控制器。该控制器不仅保留了常规S面控制器参数易于调整且结构简单的优点,同时还克服了常规S面控制器在水下航行体高速航行时运动控制效果差的缺点。引入李雅普诺夫函数对该控制器的稳定性进行分析,并将该控制器成功应用于水下航行体的运动控制。将改进S面运动控制器与常规S面控制器的试验结果进行对比,结果表明:改进S面运动控制器在水下航行体的运动控制方面具有可行性及有效性。 相似文献
16.
微小型潜器空间运动建模与仿真(英文) 总被引:2,自引:1,他引:2
对自主式潜器空间运动进行精确建模和仿真对研究其操纵和控制特性有重要意义,本文以开发的"MAUV-Ⅱ"微小型潜器为对象,基于动量定理和动量矩定理建立了潜器空间运动的非线性数学模型,将潜器受力分解为各个模块并表达为矩阵形式.在运动非线性数学模型的基础上,结合虚拟现实技术建立了运动仿真系统,针对所研究潜器的特点,采用S面控制方法对此"MAUV-Ⅱ"水下运动的艏向控制和深度控制进行了仿真研究,同时进行了基于目标规划的长距离航行仿真试验.仿真结果反映了潜器具有较好的空间操纵性能,也验证了控制软件的可行性和可靠性. 相似文献
17.
无刷直流电机具有非线性、多变量、强耦合等特点,采用传统控制系统的控制算法有局限性,往往达不到预期的控制效果。根据特种水下航行器的使用要求,设计了一种无刷直流电机的控制系统方案,基于数字信号处理器(DSP)、复杂可编程逻辑器件(CPLD)和智能功率模块(IPM),采用提前换向控制算法,满足了电机控制系统不断增加计算速度和逻辑处理实时性的要求,简化了逻辑处理流程,实现了无刷直流电机的高效运行。经实验验证,电机系统效率高达92%,稳定性好、控制灵活,该系统可用作特种水下航行器的无刷直流电机控制装置。 相似文献
18.
19.
研究了基于水声传感器网络的目标纯方位运动分析原理及方法,建立了基于水声传感器网络的目标运动分析模型。在此基础上,讨论了模型中多维非线性估计问题,提出了一种基于传感器网络新的水下目标运动分析方法。该方法采用改进的粒子滤波EKF-PF(扩展卡尔曼-粒子滤波)算法实现,并与传统的扩展卡尔曼滤波(EKF)和粒子滤波(PF)算法进行了比较。通过Monte Carlo仿真分析,表明基于水声传感器网络的目标运动分析方法充分利用了网络的优势和当前测量信息。这种方法对水下目标运动状态估计时,不仅降低了计算量而且表现出较高的估计精度。所得结论为水下传感器网络进行目标被动定位提供了参考。 相似文献