Motion Simulation of an Underwater Vehicle with Mechanical Pectoral Fins Using a CFD-based Motion Simulator
Motion Simulation of an Underwater Vehicle with Mechanical Pectoral Fins Using a CFD-based Motion Simulator
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DOI：
10.1109/ut.2007.370747
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发表时间：
2007-04
期刊：
影响因子：
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通讯作者：
Hiroyoshi Suzuki;Naomi Kato;T. Katayama;Y. Fukui
中科院分区：
文献类型：
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作者：
Hiroyoshi Suzuki;Naomi Kato;T. Katayama;Y. Fukui
沿海和近海结构物的检查对于其生命周期评估非常重要。我们一直在为这项使命研制一种配备两对机械胸鳍的水下航行器。如果将水下航行器用作自动检测系统，则确定水下航行器所需的制导和控制律水平是必不可少的。然而，由于流入鳍的速度是在由身体产生的尾流的影响下，必须使用数值方法来预测由鳍产生的水动力。因此，我们开始了一个项目，开发一个数值运动模拟器的水下机器人配备了机械胸鳍。我们已经开发了一个基于CFD的运动模拟器。然而，计算结果与实测数据有很大差异。因此，我们试图从水下航行器机身的水动力阻力的角度来改进这种运动模拟器。利用改进后的运动模拟器，对水下机器人在简单鳍运动情况下的运动进行了计算。计算结果与实测数据吻合较好。最后，对模糊控制算法进行了运动控制仿真。通过运动控制仿真器的仿真实验，验证了该方法的有效性。
The inspection of coastal and offshore structures is important for their life cycle assessment. We have been developing an underwater vehicle equipped with two pairs of mechanical pectoral fins for this mission. If underwater vehicles are used as an automatic inspection system, the determination of the desired levels of guidance and control law for the underwater vehicle is essential. However, since the inflow velocity to the fins is under the influence of the wake generated by the body, numerical methods must be used to predict hydrodynamic force generated by the fins. Therefore, we began working on a project for developing a numerical motion simulator for the underwater vehicle equipped with mechanical pectoral fins. We had already developed a CFD-based motion simulator. However the computational results were fairly different from the measured data. Therefore, we tried to improve this motion simulator from the viewpoint of hydrodynamic drag of the fuselage of the underwater vehicle. Using the improved motion simulator, the computation of the motion of the underwater vehicle with simple fin motion is carried out. As the result, the computed data shows good agreement with the measured one. The motion control simulation with Fuzzy control algorithm is also carried out. It is confirmed using the motion control simulator works well.