Dynamic analysis of propulsion mechanism directly driven by wave energy for marine mobile buoy

Zhou, Yu; Zheng, Zhongqiang; Yang, Xiaoguang; Chang, Zongyu

doi:10.3901/cjme.2016.0317.032

Cited by 14 publications

(9 citation statements)

References 7 publications

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“…The numerical model, which neglects the pitch motion and assumes the heave motion follows a sinusoidal wave profile, was found to show reasonable agreement with the experimental results [22]. Yu et al [20] modeled the forward speed of a floating mobile buoy with a submerged foil, assuming a known heave motion, showing that the forward speed increases with the buoy heave motion. Furthermore, Liu et al [19] compared the experimental results from a prototype Waveglider system to CFD simulations, finding good agreement; whereas Tian et al [21] presented a Lagrangian approach to model the dynamics of a heave-driven system.…”

Section: Literature Reviewmentioning

confidence: 56%

“…Previous efforts have involved methods based on assuming the forward speed and adjusting the forward speed based on the apparent thrust [27] and an empirical solution specific to a particular hull shape [13]. More recently, a method has been derived by significantly simplifying the vessel motions and neglecting the wave-induced surge force [20]. In addition, several methods have been implemented for fixed speed numerical solutions including [28]- [30].…”

Section: Literature Reviewmentioning

confidence: 99%

“…20) and the inertial force associated with the added mass (L NC ) was modeled asL NC = m a ḧ r − c 2 aθ + Uθ(21)whereḧr represent the relative heave acceleration of the foil and m a represents the added mass of the foil, approximated as a flat plate [πρ(c/2) 2 s] [33]. Resolving the moments about the foil pivot point, the foil pitch (assumed to be constrained by a rotational spring), was then modeled (at each time step) as M C − D sin (α) c 4 (2a + 1) = I fθ + k θ θ + M m + M NC (22) where I f is the rotational inertia of the foil and k θ is the spring constant.…”

mentioning

confidence: 99%

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Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Bowker

Tan

Townsend

2021

IEEE J. Oceanic Eng.

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Wave-propelled boats utilize submerged flapping foils to convert wave energy directly into propulsion. For platforms that are solely propelled using submerged flapping foils, predicting the forward speed is challenging as it is time varying and dependent on the coupled responses of the wave-induced hull motions (surge, heave, and pitch) and the foil flapping motion (driven by the waveinduced hull motions and incident wavy flow). To ascertain the free-running response of wave-propelled boats, this article presents a hybrid discrete time-domain numerical model and experimental results from a prototype wave-propelled autonomous surface vehicle (ASV) with forward and aft (tandem) flapping foils. Results from a series of free-running experiments in regular head waves, over a range of wave frequencies for three different foil locations, are presented and used to validate the numerical model. The model was found to show good agreement with the experimental results, capturing the coupled dynamics of the vessel and foils and oscillating forward speed, over a range of wave frequencies and foil locations. The model and results provide a valuable insight for the design of wave-propelled boats.

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Section: Literature Reviewmentioning

confidence: 56%

Section: Literature Reviewmentioning

confidence: 99%

mentioning

confidence: 99%

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Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Bowker

Tan

Townsend

2021

IEEE J. Oceanic Eng.

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“…The increasing demand for underwater exploration and development, water detection, and other works in the scientific and military fields [1] has led to the rapid development of bionic underwater robots [2]. These robots mimic animal locomotion mechanisms, such as biological motion and musculoskeletal characteristics, which have been the focus of several studies [3,4].…”

Section: Introductionmentioning

confidence: 99%

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Fan

Zhang

Kong

et al. 2017

Chin. J. Mech. Eng.

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Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the independent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the simulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

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“…Autonomous underwater glider [1][2][3] (AUG) is a type of autonomous underwater vehicle (AUV), which is distinguished from scientists by its unique gliding mode. AUG shows more competitiveness than other unmanned vehicles (e.g., typical AUVs [4], ROVs [5], and Mobile Buoy [6,7]) in ocean observing and monitoring tasks due to its high endurance and low cost. On the basis of traditional AUG, the hybrid underwater glider [8][9][10][11][12] (HUG) is developed with the combination of AUG's gliding motion and AUV's propulsion motion, and thus has more advantages in maneuverability and adaptation under severe ocean conditions.…”

Section: Introductionmentioning

confidence: 99%

Coordinate Control, Motion Optimization and Sea Experiment of a Fleet of Petrel-II Gliders

Xue

Wang

et al. 2018

Chin. J. Mech. Eng.

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The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditional gliders and AUVs. The research on control strategy and energy consumption minimization for the hybrid gliders is necessary both in methodology and experiment. A multi-layer coordinate control strategy is developed for the fleet of hybrid underwater gliders to control the gliders' motion and formation geometry with optimized energy consumption. The inner layer integrated in the onboard controller and the outer layer integrated in the ground control center or the deck controller are designed. A coordinate control model is proposed based on multibody theory through adoption of artificial potential fields. Considering the existence of ocean flow, a hybrid motion energy consumption model is constructed and an optimization method is designed to obtain the heading angle, net buoyancy, gliding angle and the rotate speed of screw propeller to minimize the motion energy with consideration of the ocean flow. The feasibility of the coordinate control system and motion optimization method has been verified both by simulation and sea trials. Simulation results show the regularity of energy consumption with the control variables. The fleet of three Petrel-II gliders developed by Tianjin University is deployed in the South China Sea. The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy. The results of simulation and the sea trial prove the feasibility of the proposed coordinate control strategy and energy optimization method. In conclusion, a coordinate control system and a motion optimization method is studied, which can be used for reference in theoretical research and practical fleet operation for both the traditional gliders and hybrid gliders.

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Dynamic analysis of propulsion mechanism directly driven by wave energy for marine mobile buoy

Cited by 14 publications

References 7 publications

Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Coordinate Control, Motion Optimization and Sea Experiment of a Fleet of Petrel-II Gliders

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