Analysis of Available Yawing Moment of an Autonomous Underwater Vehicle Model in Simulation Frame
DOI:
https://doi.org/10.13052/jgeu0975-1416.1125Keywords:
Underwater Vehicle, Yawing Moment, Rudder Tilt Angle, Shear Stress Transport (SST) K-W Model, Pressure Distribution around AUV Rudder, CFDAbstract
Research endeavors on the design and control techniques of Autonomous Underwater Vehicles (AUVs) have been going on for a long time. In the present study, the yaw motion of a small submerged underwater vehicle is investigated and visualized as a direct result of changes in the rudder tilt angle and forward velocity. The numerical analysis is performed in ANSYS-Fluent software. The turbulent flow field has been modeled using Shear Stress Transport (SST) k-ω model. A grid independence test has been conducted to ensure the validity of the findings. The forces on the rudder and the available yaw moment have been obtained for different combinations of the AUV’s rudder tilt angle and forward velocity. The trend has intuitively been consistent and agreed with the basic concept of hydrodynamics
Downloads
References
Gupta, S., Hare, J., and Zhou, S. (2012, October). Cooperative coverage using autonomous underwater vehicles in unknown environments. In 2012 Oceans (pp. 1–5). IEEE.
Yu, X., Dickey, T., Bellingham, J., Manov, D., and Streitlien, K. (2002). The application of autonomous underwater vehicles for interdisciplinary measurements in Massachusetts and Cape Cod Bays. Continental Shelf Research, 22(15), 2225–2245.
Maki, T., Ura, T., and Sakamaki, T. (2012). AUV navigation around jacket structures II: map based path-planning and guidance. Journal of marine science and technology, 17, 523–531.
Yuh, J., Choi, S. K., Ikehara, C., Kim, G. H., McMurty, G., Ghasemi-Nejhad, M., … and Sugihara, K. (1998, April). Design of a semi-autonomous underwater vehicle for intervention missions (SAUVIM). In Proceedings of 1998 international symposium on underwater technology (pp. 63–68). IEEE.
Feng, Y., Yu, X., and Han, F. (2013). On nonsingular terminal sliding-mode control of nonlinear systems. Automatica, 49(6), 1715–1722.
Joe, H., Kim, M., and Yu, S. C. (2014). Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances. Nonlinear Dynamics, 78, 183–196.
Murphy, A. J., and Haroutunian, M. (2011). Using bio-inspiration to improve capabilities of underwater vehicles. In 17th International Symposium on Unmanned Untethered Submersible Technology (UUST). Newcastle University.
Tangirala, S., and Dzielski, J. (2007). A variable buoyancy control system for a large AUV. IEEE Journal of Oceanic Engineering, 32(4), 762–771.
Woods, S. A., Bauer, R. J., and Seto, M. L. (2012). Automated ballast tank control system for autonomous underwater vehicles. IEEE Journal of Oceanic Engineering, 37(4), 727–739.
Font, R., and García-Peláez, J. (2013). On a submarine hovering system based on blowing and venting of ballast tanks. Ocean Engineering, 72, 441–447.
Kato, N., and Liu, H. (2003). Optimization of motion of a mechanical pectoral fin. JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing, 46(4), 1356–1362.
Syed, F. A., Hazry, D., and Abadal, S. (2017). Study of depth control method for Unmanned Underwater Vehicle (UUV). Journal of Environmental Science and Technology, 10(2), 88–95.
Bi, A., Zhao, F., Zhang, X., and Ge, T. (2020). Combined depth control strategy for low-speed and long-range autonomous underwater vehicles. Journal of Marine Science and Engineering, 8(3), 181.
Ghosh, P., and Mandal, P. (2019). Numerical study of depth control of an innovative underwater vehicle having four ballast tanks. International Journal of Emerging Technologies and Innovative Research, 6(5), 123–126.
Shang, L., Wang, S., and Tan, M. (2010, October). Fuzzy logic PID based control design for a biomimetic underwater vehicle with two undulating long-fins. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 922–927). IEEE.
Patel, S. S., Kumar, K., Botre, B. A., and Akbar, S. A. (2015, December). Design of fuzzy logic based controller with pole placement for the control of yaw dynamics of an Autonomous underwater vehicle. In 2015 Annual IEEE India Conference (INDICON) (pp. 1–6). IEEE.
Valeriano, Y., Fernández, A., Hernández, L., and Prieto, P. J. (2016). Yaw controller in sliding mode for underwater autonomous vehicle. IEEE Latin America Transactions, 14(3), 1213–1220.
Vasilescu, I., Detweiler, C., Doniec, M., Gurdan, D., Sosnowski, S., Stumpf, J., and Rus, D. (2010). AMOUR V: A hovering energy efficient underwater robot capable of dynamic payloads. The International Journal of Robotics Research, 29(5), 547–570.
Zhao, X., Liu, Y., Han, M., Wu, D., and Li, D. (2016). Improving the performance of an AUV hovering system by introducing low-cost flow rate control into water hydraulic variable ballast system. Ocean Engineering, 125, 155–169.
Zhang, Y., Li, Y., Zhang, G., Zeng, J., and Wan, L. (2017). Design of X-rudder autonomous underwater vehicle’s quadruple-rudder allocation with Lévy flight character. International Journal of Advanced Robotic Systems, 14(6), 1729881417741738.
Li, D. and Du, L. (2021). AUV Trajectory Tracking Models and Control Strategies: A Review. Journal of Marine Science and Engineering, 9(1020).
Qi, Z. and Su, Y. (2021). Research on Integrated Roll and Yaw Control Strategy for AUV Diving Near Surface. 40th Chinese Control Conference (CCC) 2021, (pp. 2339–2343), Shanghai, China.
Liu, L., Zhang, L., Pan, G., and Zhang, S. (2022). Robust yaw control of autonomous underwater vehicle based on fractional-order PID controller. Ocean Engineering, 257, 111493.
Abdulkader, R. (2023). Controller Design based on Fractional Calculus for AUV Yaw Control. Engineering, Technology & Applied Science Research, 13(2), 10432–10438.
Chruściel, T., Ciba, E., and Dopke, J. (2014). CFD and FEM model of an underwater vehicle propeller. Polish Maritime Research, 21(3), 40–45.
Bose, G. K., Ghosh, P., and Pal, D. (2019). Analytical and Numerical Modelling of Liquid Penetration in a Closed Capillary. In Process Analysis, Design, and Intensification in Microfluidics and Chemical Engineering (pp. 114–135). IGI Global.
Menter, F. R. (1994). Two-equation eddy-viscosity turbulence models for engineering applications. AIAA journal, 32(8), 1598–1605.
de Sousa, J. V. N., de Macêdo, A. R. L., de Amorim Junior, W. F., and de Lima, A. G. B. (2014). Numerical analysis of turbulent fluid flow and drag coefficient for optimizing the AUV hull design. Open journal of fluid dynamics, 4(03), 263.
ANSYS Workbench Products ReleaseNotes 10.0.
