The technology of cybernetic models’ creating for the synthesis and refinement of algorithms for controlling the autonomous underwater vehicle’s (AUV’s) motion is considered. The paper gives a description of the following sequence of actions performed at each stage of the cybernetic model development: dynamic model type and parameters identification, controller type selection, construction and analysis of the considered control loop block diagram, determination of the controller’s optimal parameters. The synthesis of heading, pitch and depth stabilization regulators for streamlined shape AUV during propulsion engines controlling is performed. The results of numerical modeling and research of the various factors influence on the quality of control are presented.
The purpose of this work is to create the most accurate mathematical model of the underwater vehicle dynamics. In fact, the proposed model should be an alternative to full-scale testing of the device. The paper presents a calculation method that implements coupled calculations of the underwater vehicle dynamics and the hydrodynamics of the fluid, flowing around it. From the point of view of mechanics and hydrodynamics, this approach is the most accurate method for modeling the device dynamics in the presence of arbitrary control actions. The main advantage of the proposed calculation method is the conservative approximation scheme for hydrodynamic calculations, which is extremely important when performing non-stationary calculations. In addition, the proposed method requires less computational resources than other currently used coupled calculations methods. The proposed method was verified on a large data volume received from real autonomous underwater vehicles (AUV) field tests and showed high accuracy in reproducing full-scale data. The developed calculation method was used for the designing AUV control system and showed its high efficiency.
This article presents the results of experimental and computational modeling of the movement of a fish-like underwater robot. The experimental 3D model is constructed from photographs of Pacific bluefin tuna. This model allows us to study biomorphic swimming with various motion parameters, namely: the amplitude and frequency of strokes is set by the servo control signal, the angle between the tail fin and the elastic plate is set by the number and stiffness of springs in the hinge. The calculation method involves the joint solution of the equations of dynamics of the robot and the equations of hydrodynamics of the fluid flowing around it. For this task, an original mesh deformation algorithm was developed that allows hydrodynamic calculations to be performed near the tail of the model performing transverse oscillations. The use of deformable mesh technology allows you to reproduce the shape of the tail vibrations as accurately as possible. In addition, the calculation scheme has the property of conservativeness, which makes it possible to obtain high quality calculations, confirmed by comparison with experimental data.
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