Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Xu, Shijing; Ma, Qingwei; Han, Duan Feng

doi:10.1016/j.euromechflu.2017.01.013

Cited by 11 publications

(4 citation statements)

References 10 publications

(19 reference statements)

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“…In the mathematical model, there are some unknown parameters, namely the fluiddamping coefficient. In this paper, Fluent software was first used to conduct fluid simulation, and the obtained simulation data were sorted and fitted to obtain the first-order and second-order fluid-damping coefficients of two degrees of freedom, namely, snorkeling motion and yaw motion, which were used for the subsequent controller design [14,15].…”

Section: Solution Of Fluid Damping Coefficientmentioning

confidence: 99%

ROV Sliding Mode Controller Design and Simulation

Ren,

2023

Processes

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Underwater robots play a vital role in the exploration and development of marine resources and the inspection and maintenance of offshore platforms. In this paper, the motion control technology of ROV is studied, the kinematics and dynamics of ROV are analyzed, the kinematics and dynamics models of ROV are established, and the degrees of freedom of the models are decouple according to the control requirements. The fluid damping coefficient of ROV was obtained using Fluent software, and an ROV control system based on sliding mode variable structure was designed. The saturation function was introduced into the sliding mode controller to reduce the adverse effects of buffeting. The classical PID controller, fuzzy PID controller ,and sliding mode controller designed in this paper were simulated and analyzed by Simulink. A semi-physical simulation platform based on Unity3D was established. It can be seen from the simulation results and the pool experiment results that the performance of the sliding mode controller designed in this paper is better than the classical PID controller and the fuzzy PID controller. The sliding mode control method is used to control the ROV motion, which has better control effect and precision.

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Section: Solution Of Fluid Damping Coefficientmentioning

confidence: 99%

ROV Sliding Mode Controller Design and Simulation

Ren,

2023

Processes

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“…Currently, there are several ways to obtain ADS hydrodynamic coefficients: model test method, simulation test method, and empirical method. Xu et al [2] employed a model test method to study the hydrodynamic characteristics of an ROV produced by an SMD company and obtained ROV hydrodynamic coefficients through the test. They also conducted multiple constrained model drag tests based on the model to obtain ROV viscous hydrodynamic coefficients in the forward direction, lateral direction, and vertical direction [3].…”

Section: Introductionmentioning

confidence: 99%

Determination of Hydrodynamic Coefficients of Atmospheric Diving Suit

Chen,

Du,

Cao

2023

J. Phys.: Conf. Ser.

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Atmospheric Diving Suit (ADS) is commonly featured with complex configurations and great difficulty in accurate control. To achieve a satisfying control effect, it is necessary to establish a hydrodynamic formula for ADS. This paper employs the model test method to obtain the ADS hydrodynamic coefficients, providing the foundation for ADS hydrodynamic formula. A 1:1 scale hydrodynamic test model of ADS is designed and machined, and then the hydrodynamic test is carried out. The hydrodynamic coefficients correlated with vertical motion are obtained through a vertical towing test, revealing the hydrodynamic characteristics of the ADS.

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“…UUVs usually can be divided into two categories: the first category is remotely operated vehicles (ROVs) and the other category is autonomous underwater vehicles (AUVs). Different from the AUVs' navigation without operator and cable, the ROVs need to be operated in a local region by the operators based on the underwater video and data, which are transmitted to the mother ship by the umbilical cable in real time (Xu et al, 2017). During the execution of a certain underwater task, ROVs usually need to be capable of maneuvering to following the given trajectory precisely.…”

Section: Introductionmentioning

confidence: 99%

Observer-based adaptive neural sliding mode trajectory tracking control for remotely operated vehicles with thruster constraints

Chu

Chen²,

Zhu

et al. 2021

Transactions of the Institute of Measurement and Control

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For a class of remotely operated vehicle (ROV) systems with thruster constraints, immeasurable states, and unknown nonlinearities, the trajectory tracking control problem was discussed in this paper. The unknown nonlinear functions were approximated by radial basis function (RBF) neural networks. An adaptive state observer based on neural networks was designed and the immeasurable states were estimated. Considering the problem of thruster saturation constraints, an auxiliary system for saturation compensation was designed and a saturation factor was constructed by the auxiliary system state. By applying the backstepping design method, an adaptive neural sliding mode trajectory tracking controller was developed, in which the saturation factor is contained in adaptive laws. It was proved that the uniformly ultimately bounded (UUB) of trajectory tracking errors can be obtained. Finally, the effectiveness of the proposed trajectory tracking control approach was checked by simulations.

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Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Cited by 11 publications

References 10 publications

ROV Sliding Mode Controller Design and Simulation

ROV Sliding Mode Controller Design and Simulation

Determination of Hydrodynamic Coefficients of Atmospheric Diving Suit

Observer-based adaptive neural sliding mode trajectory tracking control for remotely operated vehicles with thruster constraints

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