Title :
Modeling of a complex-shaped underwater vehicle
Author :
Yang, Roger ; Clement, Benjamin ; Mansour, Ayman ; Li, H.J. ; Li, Meng ; Wu, N.L.
Author_Institution :
Coll. of Eng., Ocean Univ. of China, Qingdao, China
Abstract :
A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. Due to the geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters. Therefore, the main objective of this paper is to find an efficient modeling approach to tune acceptable control design models. The presented solution uses cost efficient CFD (computational fluid dynamic) softwares predicting the two hydrodynamic key parameters: The added mass matrix and the damping matrix. A complete model is built for CISCREA from CFD and verified through experimental results. The results indicate that the proposed computational approach seems to be desirable for the robust control scheme of many complex-shaped AUVs. Finally, Numerical and experimental results are compared.
Keywords :
autonomous aerial vehicles; computational fluid dynamics; control engineering computing; damping; hydrodynamics; matrix algebra; mechanical engineering computing; AUV geometry; CFD software; added mass matrix; autonomous underwater vehicle; complex-shaped underwater vehicle; computational fluid dynamic software; control design models; control-oriented modeling approach; damping matrix; hydrodynamic parameters; low-speed semi-AUV; Computational modeling; Fluids; Propulsion; Surges;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on
Conference_Location :
Espinho
DOI :
10.1109/ICARSC.2014.6849759
