Mathematical modeling of autonomous underwater vehicle propulsion and steering complex operation in oblique (beveled) water flow
Journal Title: Восточно-Европейский журнал передовых технологий - Year 2019, Vol 4, Issue 9
Abstract
<p>The research of nonlinear hydrodynamic characteristics of the propulsion and steering complex (PSC), which influence the accuracy of the plane trajectory motion of an autonomous underwater vehicle (AUV), is carried out. During the underwater vehicle curvilinear motion, its PSC operates in an oblique incident water flow. This leads to a decrease in the PSC thrust force and negatively affects the controlled trajectory motion of the underwater vehicle. The research was conducted for a specific type of AUV for the plane curvilinear motion mode.</p><p>The mathematical modeling method was chosen as the research method. To this end, the well-known AUV motion mathematical model is supplemented by the control system that simulates (mimics) its trajectory motion. The developed model consists of four main units: an AUV improved model; the vehicle speed setting unit; the nozzle rotation angle control unit; the unit containing the AUV pre-prepared motion trajectories.</p><p>The research results of the AUV hydrodynamic parameters for several typical trajectories of its motion are presented. The investigated parameters include the following: the required nozzle rotation angle; the vehicle actual motion trajectory; the vehicle velocity; the propeller shaft moment; the propeller thrust force.</p>As a result of the conducted researches, the dependence diagram of the propeller thrust force on the AUV nozzle rotation angle in the speed range from 0.2 m/s to 1 m/s and during the nozzle rotation in the range of up to 35° was constructed. A three-dimensional matrix, which describes the dependence of the propeller thrust force on the incident water flow angle and velocity of the vehicle, was created. The obtained dependence can be used in the synthesis of automatic control systems regulators of AUV plane manoeuvering (shunting) motion of increased accuracy.
Authors and Affiliations
Volodymyr Blintsov, Hanna Hrudinina
Keywords
Related Articles
- EP ID EP666990
- DOI 10.15587/1729-4061.2019.176673
- Views 66
- Downloads 0
Determining high quasihydrostatic pressure up to 7 GPa at a temperature to 1,400 °С using resistive sensors
<p>A differential method for measuring high quasi‒hydrostatic pressures for six‒punch pressing installations has been constructed by building a load‒carrying characteristic р=f(Q), where p is the value for pressure in a...
Investigation of the electrochromic properties of Ni(OH)2 films on glass with ITONi bilayer coating
<p class="1">Electrochromic films have been deposited onto glass coated with indium-tin oxide (ITO) and glass with ITO and a thin layer of metallic nickel deposited onto it. Nickel was deposited onto the surface of the I...
Development of knowledgebased control systems with builtin functions of rules verification and correction
<p>Two improved models of control rules were proposed. A model in a form of AND/OR graph; in contrast to the known graphical model of general rules, is based on dividing the rules into groups based on the controlled obje...
Modeling the elastic impact of a body with a special point at its surface
We have considered the elastic straight impact along a flat border of the stationary half-space of the body bounded in a zone of contact interaction by the surface of rotation, whose order is smaller than two. The featur...
Design of parallel link mobile robot manipulator mechanisms based on function-oriented element base
<p>To create effective mobile robot manipulators, a function-oriented element base is proposed. Element base selection is based on the analysis of schematics of mobile robot manipulators. It is substantiated that the eff...