Dynamic modeling of quadrotor AUV using a novel CFD simulation

被引：42

作者：

Ji, Daxiong ^{[1
]}

Wang, Rui ^{[1
]}

Zhai, Yangyang ^{[1
]}

Gu, Haitao ^{[2
]}

机构：

[1] Zhejiang Univ, Inst Marine Elect & Intelligent Syst, Ocean Coll,Key Lab Ocean Observat Imaging Testbed, Minist Educ,Engn Res Ctr Ocean Sensing Technol &, Zhoushan 316000, Peoples R China

[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110016, Peoples R China

来源：

OCEAN ENGINEERING | 2021年 / 237卷

基金：

美国国家科学基金会;

关键词：

Quadrotor AUV; Hydrodynamic coefficients; CFD; Dynamic model;

D O I：

10.1016/j.oceaneng.2021.109651

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Quadrotor AUV is a new and promising vehicle in applications due to its special advantages. However, the problem of dynamic modeling of quadrotor AUV has not been investigated yet. In this study, a new dynamic modeling method for a quadrotor AUV is proposed by using a novel CFD simulation to calculate the hydrodynamic coefficients. Star CCM + is used to simulate the uniform and variable motion of each degree of freedom of a quadrotor AUV to decouple original high coupling dynamic model. Through the simulation of the AUV and the propeller motion, the main hydrodynamic coefficients are calculated, while the mathematical relationship between the rotation velocity and the thrust/torque is concluded. Specifically, the static mesh and dynamic mesh models are used to simulate the uniform and variable motion of the quadrotor AUV respectively. The calculation of added mass and drag coefficient does not interfere with each other, leading to accurate results. A numerical method is also proposed to separate the linear and nonlinear parts of the total drag coefficients. Then a six DOF dynamic model of a quadrotor AUV is established. The proposed CFD simulation also provides a reliable, repeatable and low-cost method for dynamic modeling of underwater vehicles.

引用

页数：12

共 25 条

[1] Ahmed SF, 2015, 2015 SECOND INTERNATIONAL CONFERENCE ON COMPUTING TECHNOLOGY AND INFORMATION MANAGEMENT (ICCTIM), P99, DOI 10.1109/ICCTIM.2015.7224600
[2] ALZUBI H, 2015, 2015 IEEE JORDAN C A, P1, DOI DOI 10.1109/AEECT.2015.7360567
[3] Experimental Investigation of the Hydrodynamic Coefficients of a Remotely Operated Vehicle Using a Planar Motion Mechanism
Avila, Juan Julca
Nishimoto, Kazuo
Sampaio, Claudio Mueller
Adamowski, Julio C.
[J]. JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING-TRANSACTIONS OF THE ASME, 2012, 134 (02): : 021601
[4] Scale effects on open water characteristics of a controllable pitch propeller working within different duct designs
Bhattacharyya, Anirban
Krasilnikov, Vladimir
Steen, Sverre
[J]. OCEAN ENGINEERING, 2016, 112 : 226 - 242
[5] Estimation of AUV Hydrodynamic Coefficients Using Analytical and System Identification Approaches
Cardenas, Persing
de Barros, Ettore A.
[J]. IEEE JOURNAL OF OCEANIC ENGINEERING, 2020, 45 (04) : 1157 - 1176
[6] Investigation of a method for predicting AUV derivatives
de Barros, E. A.
Pascoal, A.
de Sa, E.
[J]. OCEAN ENGINEERING, 2008, 35 (16) : 1627 - 1636
[7] Drews PLJ, 2014, IEEE INT C INT ROBOT, P4637, DOI 10.1109/IROS.2014.6943220
[8] Fossen T.I., 2002, Marine control systems: guidance, navigation and control of ships, rigs and underwater vehicles
[9] Hydrodynamic derivative determination based on CFD and motion simulation for a tow-fish
Go, Gwangsoo
Ahn, Hyung Taek
[J]. APPLIED OCEAN RESEARCH, 2019, 82 : 191 - 209
[10] A Computational Fluid Dynamics Investigation on the Drag Coefficient Measurement of an AUV in a Towing Tank
Javanmard, E.
Mansoorzadeh, Sh
[J]. JOURNAL OF APPLIED FLUID MECHANICS, 2019, 12 (03) : 947 - 959

← 1 2 3 →