Research on accurate modeling of hydrodynamic interaction forces on AUVs operating in tandem | |
Kang S(康帅)1,2,3; Yu JC(俞建成)1,3; Zhang J(张进)1,3; Hu F(胡峰)1,3; Jin QL(金乾隆)1,2,3 | |
刊名 | Ocean Engineering |
2022 | |
卷号 | 251页码:1-13 |
关键词 | Hydrodynamic interaction force Hydrodynamic prediction Memory effects Hydrodynamic model |
ISSN号 | 0029-8018 |
产权排序 | 1 |
英文摘要 | The hydrodynamic interaction force between autonomous underwater vehicles (AUVs) operating in tandem can adversely affect the hydrodynamic prediction of individual AUVs and the formation control of the tandem fleet. Accurate modeling of hydrodynamic interaction forces is crucial to the model-based controller design of AUVs. In this paper, we innovatively propose a modeling method that can describe the hydrodynamic interaction relationship accurately and continuously (when the spacing between adjacent AUVs changes). First, an accurate hydrodynamic model for individual AUVs in tandem fleets is established by modifying the typical model through the consideration of memory effects. Second, a model of hydrodynamic interaction forces is derived by subtracting hydrodynamic forces acting on a single AUV operating independently from those acting on an AUV operating in tandem. To enable this model to continuously describe the hydrodynamic interaction relationship when the spacing changes, this model is further derived by taking the spacing as an independent variable based on the parameter conversion method. Finally, planar motion mechanism (PMM) tests are carried out using the computational fluid dynamics (CFD) method to verify the accuracy and continuity of the proposed modeling method. The results show that compared with the typical model, the average error of hydrodynamic forces predicted by the proposed model is reduced by 5.36%, which verifies the feasibility and effectiveness of the proposed modeling method. |
语种 | 英语 |
资助机构 | National Natural Science Foundation of China (Grant No. 51909257, U1709202) ; Natural Science Foundation of Liaoning Province, China (Grant No. 2021-MS-031) ; Liaoning Revitalization Talents Program, China (Grant No. XLYC2007035) ; State Key Laboratory of Robotics at Shenyang Institute of Automation, China (Grant No. 2020-Z06) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30746] |
专题 | 海洋机器人卓越创新中心 |
通讯作者 | Zhang J(张进) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Kang S,Yu JC,Zhang J,et al. Research on accurate modeling of hydrodynamic interaction forces on AUVs operating in tandem[J]. Ocean Engineering,2022,251:1-13. |
APA | Kang S,Yu JC,Zhang J,Hu F,&Jin QL.(2022).Research on accurate modeling of hydrodynamic interaction forces on AUVs operating in tandem.Ocean Engineering,251,1-13. |
MLA | Kang S,et al."Research on accurate modeling of hydrodynamic interaction forces on AUVs operating in tandem".Ocean Engineering 251(2022):1-13. |
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