Modeling and performance analysis of open-loop remotely operated vehicles ORCA
Modeling and performance analysis of open-loop remotely operated vehicles ORCA
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开环遥控车辆 ORCA 建模与性能分析
DOI：
10.11591/ijra.v12i1.pp108-124
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发表时间：
2023
期刊：
影响因子：
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通讯作者：
S. Santhanam
中科院分区：
文献类型：
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作者：
Tejaswini Panati;Sai Deepika Indraganti;S. Santhanam
ORCA是一种低成本的远程操作潜水器，是中国自主开发的水下检查和测量工具。由于水下环境具有很大的不可预测性，对遥控航行器进行动态建模和仿真是了解水下航行器行为和实现稳定航行的必要条件。本文详细讨论了基于牛顿动力学的ORCA数学建模方法，并在Simulink中模拟了ORCA的位置和速度响应。利用遥控航行器的开环非线性模型，研究了水下各种扰动（科里奥利力和向心力、附加质量、水动力阻尼力和恢复力）对遥控航行器的导航挑战。六推进器开环ORCA模型分别受到不同推力输入（25%，50%和75%）以实现6个自由度（DoF），观察到其他自由度随主运动方向存在明显的不稳定性。在此基础上，分析了各种控制系统对ORCA导航稳定性的影响。
ORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accomplish stabilized navigation. This paper discusses a detailed approach to the mathematical modeling of ORCA based on Newtonian dynamics and simulating the position and velocity responses in Simulink. The open loop nonlinear model of the remotely operated vehicle was used to study the navigation challenges due to the various perturbations present underwater namely Coriolis and centripetal force, added mass, hydrodynamic damping force, and restoring forces. The six-thruster open loop ORCA model was subjected to various thrust inputs (25%, 50%, and 75%) to achieve six degrees of freedom (DoF) respectively and it was observed that there was significant instability in the other DOFs along with the principal direction of motion. Further, the authors will incorporate the various control systems in ORCA and analyze the stability in navigation induced due to each of them.