Nonlinear dynamics modeling and performance prediction for underactuated AUV with fins
Nonlinear dynamics modeling and performance prediction for underactuated AUV with fins
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带鳍欠驱动 AUV 的非线性动力学建模和性能预测
DOI：
10.1007/s11071-015-2442-1
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发表时间：
2016
影响因子：
5.6
通讯作者：
Jundong Zhang
中科院分区：
文献类型：
--
作者：
Xiao Liang;Ye Li;Zhouhua Peng;Jundong Zhang
随着深海活动的发展，自主式水下机器人（AUV）的应用越来越广泛。水下机器人通常采用鳍片来修正水动力，以获得低能耗、低阻力和良好的操纵性能。欠驱动水下机器人可以利用垂直鳍做回转运动，利用水平鳍做下潜和上浮运动。然而，带鳍欠驱动水下机器人的建模和性能预测一直没有得到很好的解决。建立了带鳍欠驱动水下机器人的六自由度动力学和运动学模型，详细分析了水下机器人的受力和水动力系数，特别是鳍的影响。通过CFD数值计算得到了各种船体水动力系数。通过一系列仿真实验对AUV的水动力性能进行了预测，并与WL-Ⅱ欠驱动AUV的海洋实验结果进行了对比，验证了该方法的可行性和准确性。
The application of autonomous underwater vehicles (AUV) is widespread with the development of the activities in deep ocean. For low energy consumption, low resistance and excellent maneuverability, fins are usually used to modify AUV hydrodynamic forces. The underactuated AUV can do gyratory motion by vertical fins and do diving and rising motion by horizontal fins. However, the modeling and performance prediction for the underactuated AUV with fins have not been solved well. We build the dynamics and kinematics model in 6-DOF for the underactuated AUV with fins and analyze the forces and hydrodynamic coefficients in detail, especially the fin effect. Various hull hydrodynamic coefficients are obtained by CFD numerical computation. A series of simulation experiments are conducted to predict AUV hydrodynamic performance, and the feasibility and accuracy are verified by comparing the results on WL-II underactuated AUV in ocean experiments.