共查询到20条相似文献,搜索用时 562 毫秒
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Mohammad Bozorg Hadi Jalili S. Ali Eftekhari 《Journal of Marine Science and Technology》2007,12(4):232-239
The performance of the control systems of autonomous underwater vehicles (AUVs) in the presence of parameter variations was
studied. With an AUV working at different operating speeds and in different ocean environments, the physical parameters such
as speed, hydrodynamic coefficients, or inertias may be perturbed from their nominal values. The vehicle control systems can
be modeled as systems with parameter uncertainty. An existing robust control method, which uses the robustness properties
of polynomials, was used for this system to calculate the permissible ranges of variation in the parameters. The method was
applied to the Naval Postgraduate School AUV II and the results were verified by simulating the motion control of the vehicle
under the influence of parameter perturbations. 相似文献
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一种基于CFD的水动力系数计算新方法(英文) 总被引:3,自引:0,他引:3
Applications of computational fluid dynamic (CFD) to the maritime industry continue to grow with the increasing development
of computers. Numerical approaches have evolved to a level of accuracy which allows them to be applied for hydrodynamic computations
in industry areas. Hydrodynamic tests, especially planar-motion-mechanism (PMM) tests are simulated by CFD software -FLUENT,
and all of the corresponding hydrodynamic coefficients are obtained, which satisfy the need of establishing the simulation
system to evaluate maneuverability of vehicles during the autonomous underwater vehicle scheme design stage. The established
simulation system performed well in tests. 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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为建立复杂外形潜水器精确的动力学模型,并基于模型设计控制算法,本文以DOE HD2+2无人遥控潜水器(ROV)为对象,应用计算流体力学(CFD)粘流方法与面元法预测水动力系数.为提高计算速度,在保证计算精度的前提下,采用多面体网格,进行网格优化,减少了流体域的网格总数.由于ROV几何外形不对称,基于最小二乘法分段拟合了阻尼力/力矩与速度的曲线,建立了耦合的阻尼矩阵和附加质量矩阵.最后,基于CFD计算的水动力系数建立了Matlab Simulink动力学仿真模型,并通过水池操控实验对所建动力学模型进行了有效性验证. 相似文献
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《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
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《船舶与海洋工程学报》2021,(1)
The model-driven architecture(MDA)/model-based systems engineering(MBSE) approach, in combination with the real-time Unified Modeling Language(UML)/Systems Modeling Language(SysML), unscented Kalman filter(UKF) algorithm, and hybrid automata, are specialized to conveniently analyze, design, and implement controllers of autonomous underwater vehicles(AUVs). The dynamics and control structure of AUVs are adapted and integrated with the specialized features of the MDA/MBSE approach as follows. The computation-independent model is defined by the specification of a use case model together with the UKF algorithm and hybrid automata and is used in intensive requirement analysis. The platform-independent model(PIM) is then built by specializing the real-time UML/SysML's features, such as the main control capsules and their dynamic evolutions, which reflect the structures and behaviors of controllers. The detailed PIM is subsequently converted into the platform-specific model by using open-source platforms to quickly implement and deploy AUV controllers. The study ends with a trial trip and deployment results for a planar trajectory-tracking controller of a miniature AUV with a torpedo shape. 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INS和USBL及光学探测信号作为子滤波器的输入信息,结合AUV水下回收对接过程中的5个阶段分别建立运动方程,最终得到适用于移动平台搭载的AUV水下对接引导系统的多源数据融合导航算法。[结果]仿真结果表明,所提方法具有可行性、系统鲁棒性和控制精度,[结论]可满足母艇水下回收作业对接的工程要求,以及作为AUV水下自主回收操作的技术参考。 相似文献
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The role of autonomous underwater vehicles (AUVs) is more important in the quest to reach the deep seas today than ever before. The hull shape of the AUV can differ depending on the special mission considered for the vehicle. Therefore, different types of algorithms for the body shape design of these kinds of vehicles are being developed every day. In the current work, a new procedure has been proposed for designing the body shape of an AUV. Using this method which is based on a desired pressure distribution, it is possible to obtain the desired hull shape design. Artificial neural network algorithm has been used for this purpose. Preliminary data for training and testing of the network have been obtained from CFD simulation of the flow around the body of Hydrolab500 AUV. In this regard, pressure distribution has been evaluated around each body by changing the nose and tail profile of AUV. The results obtained from this research indicate that a body correlated to the desired pressure can be designed properly. 相似文献
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针对仅带有轴向推力及偏航力矩的欠驱动自主水下航行器(AUV),研究了其在水平面内的轨迹跟踪及定点调节问题。基于Lyapunov直接法及串接一反步技术,通过采用一种带有动力学震荡器的跟踪误差变换,设计了一种统一的连续时变状态反馈控制律,并给出了参数自适应更新律以估计AUV的非线性阻力参数,使得AUV的位置及方向角的跟踪误差全局渐近收敛于零点左右的一个邻域内,该区域可以为任意小,并且,AUV的跟踪性能与外界干扰的大小无关。仿真结果证明所提出的方法是有效的。 相似文献
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自主水下航行器(AUV)作为探索海洋、开发资源和军事作战等水下应用的重要手段,其速度和续航力是评价其性能优劣的重要方面。AUV在水下航行时的阻力主要取决于其几何形状和尺寸以及其表面的光滑程度,因此,研究AUV的几何形状和外观尺寸便显得尤为重要。对AUTOSUB,HUGIN,REMUS,BLUEFIN1和BLUEFIN2这5种艇型建立几何模型并进行阻力性能分析。通过采用计算流体动力学(CFD)方法进行数值模拟,并将所得结果与理论结果进行对比分析,以验证CFD模拟的可靠性及模拟的最优模式。通过对比不同直径、不同舵的展弦比、带舵和无舵、有整流罩以及相似径长比的不同艇型来比较AUV的阻力性能,最终得到艇型的阻力性能特点以及最佳艇型。研究表明:在5种艇型中,AUTOSUB型最优,其次是HUGIN型、REMUS型和BLUEFIN1型,最后是BLUEFIN2型,其中AUTOSUB型和HUGIN型适合中、高速航行,REMUS型和BLUEFIN型适合低速航行。 相似文献
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Toshihiro Maki Hayato Mizushima Tamaki Ura Takashi Sakamaki Masao Yanagisawa 《Journal of Marine Science and Technology》2012,17(3):330-339
Underwater jacket structures or support legs of on-water platforms, such as ports and oil rigs, need to be periodically inspected for maintenance, environmental monitoring, and security reasons. Autonomous underwater vehicles (AUVs) can potentially make these tasks more inexpensive and reliable compared to conventional methods that involve the use of divers and remotely operated vehicles. This paper proposes a robust and practical self-localization method for an underwater vehicle navigating around jacket structures, where the performance of conventional acoustic positioning suffers from multipath degradation. The key idea is to stochastically update the vehicle??s horizontal position and heading relative to the structures using two types of perceptional sensors, sonar and camera, assuming that the configuration of the structure is known. The performance of the method was verified with tank experiments using a jacket mock-up and the AUV Tri-Dog 1. 相似文献
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针对Multi-AUV编队执行复杂海底地形勘探任务的实际需求和问题,提出Multi-AUV的编队协同控制策略。首先采用领航-跟随思想和反馈线性化方法推导出编队控制律,使Multi-AUV编队可以维持在恒定的几何队形进行巡航,实现高效的并行作业;其次为使搭载的设备获得更佳的扫描效果,引入基于最小二乘法估计的高度控制方法,以保持AUV处在期望的距底高度;然后针对执行梳状探测路径中存在的路径变换和极端地形避障问题提出路径变换优化策略和避障策略,最后通过计算机仿真试验验证提出的编队方法和策略在执行海底复杂地形探测任务中的有效性。 相似文献
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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
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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