Experimental Parameter Identification for an open-frame ROV: Comparison of towing tank tests and open water self-propelled tests

Lack, Sven; Jeinsch, Torsten

doi:10.1016/j.ifacol.2019.12.319

Cited by 17 publications

(12 citation statements)

References 9 publications

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“…The identification of the hydrodynamic parameters of autonomous underwater vehicles (AUVs) at the early stages of conception stands as the main motivation of the present work, since the hydrodynamic parameters could potentially serve as a measure of the design efficiency [ 4 , 5 , 6 , 7 ].…”

Section: Introductionmentioning

confidence: 99%

“…In order to estimate the hydrodynamic parameters of a prescribed underwater vehicle, different experimental methodologies have been reported in the literature [ 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 ], yet, the majority of them require the implementation of top-technological expensive gadgets and tools, which makes the design task difficult for those researchers whose budget and facilities are an issue to overcome. In this regard, the implementation of Computed Fluid Dynamics (CFD) software and other computational resources has emerged as an alternative to conceive the vehicles at the first stages of research.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Castillo-Zamora

Camarillo‐Gómez

Pérez-Soto

et al. 2021

Sensors

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This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Castillo-Zamora

Camarillo‐Gómez

Pérez-Soto

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…The ROV or a scaled model is attached to one end of a pendulum, which is then displaced from an equilibrium position and the decay of amplitude is observed [8,9]. Different test classes may result in different identified parameters; a study was conducted in [10] to investigate this element, comparing a towing tank test to an open water self propelled test.…”

Section: Introductionmentioning

confidence: 99%

Experimental Force Data of a Restrained ROV under Waves and Current

Gabl

Davey

Cao

et al. 2020

Data

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Hydrodynamic forces are an important input value for the design, navigation and station keeping of underwater Remotely Operated Vehicles (ROVs). The experiment investigated the forces imparted by currents (with representative real world turbulence) and waves on a commercially available ROV, namely the BlueROV2 (Blue Robotics, Torrance, USA). Three different distances of a simplified cylindrical obstacle (shading effects) were investigated in addition to the free stream cases. Eight tethers held the ROV in the middle of the 2 m water depth to minimise the influence of the support structure without completely restricting the degrees of freedom (DoF). Each tether was equipped with a load cell and small motions and rotations were documented with an underwater video motion capture system. The paper describes the experimental set-up, input values (current speed and wave definitions) and initial processing of the data. In addition to the raw data, a processed dataset is provided, which includes forces in all three main coordinate directions for each mounting point synchronised with the 6DoF results and the free surface elevations. The provided dataset can be used as a validation experiment as well as for testing and development of an algorithm for position control of comparable ROVs.

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“…The parameters are identified by either the least square method [9][10][11] or a grapho-analytical method [12]. A comparison between model tests employing methods from the above two categories was carried out for the heave freedom of degree in [13]. Although these methods are the most prevailing ones among all the experimental approaches, data obtained from above tests is not completely reliable because of the facility limitations and errors, and they are generally time-consuming and high cost.…”

Section: Introductionmentioning

confidence: 99%

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

Cao

et al. 2020

JMSE

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The remotely operated vehicles (ROVs) are important to provide the technology support for both the traditional offshore structures and rapidly-growing renewable energy facilities during their full-lifecycles, such as site survey, installation, inspection, maintenance and repair. Regarding the motion and performance of a ROV, the understanding of its hydrodynamic properties is essential when exposing to the disturbances of wave and current. In this study, a numerical model is proposed within the frame of an open-source platform OpenFOAM. The hydrodynamics of the adopted ROV (BlueRov2) in its four principal degrees of freedoms (DOFs) is numerically simulated by a Reynolds-Averaged Navier-Stokes (RANS) solver. Meanwhile, an experimental test is carried out by using a novel technique on measuring the hydrodynamic forces and moments. To validate the numerical prediction methodologies, a set of systematic simulations of the ROV subjected to the disturbances caused by various flow conditions are performed. Comparing to the model test measurement, the numerical model proved to be reliable in offering a good estimation of the hydrodynamic parameters. This also indicates that the presented numerical methodologies and experimental techniques can be applied to other types of open-frame ROVs in quantifying the hydrodynamic parameters, capturing the physics of the fluid-structure interaction (FSI) and feature of the turbulent vorticity which are all essential for the effective control of the ROVs under the nonlinear flow disturbances.

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Experimental Parameter Identification for an open-frame ROV: Comparison of towing tank tests and open water self-propelled tests

Cited by 17 publications

References 9 publications

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Experimental Force Data of a Restrained ROV under Waves and Current

Numerical Modelling and Experimental Testing of the Hydrodynamic Characteristics for an Open-Frame Remotely Operated Vehicle

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