Performance Evaluation of a Hybrid Thruster for Spherical Underwater Robots

Li, Chunying; Guo, Shuxiang; Guo, Jian

doi:10.1109/tim.2022.3178700

Cited by 10 publications

(3 citation statements)

References 33 publications

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“…tests are carried out on an actual underwater vehicle to verify the performance of the propeller [23].…”

Section: Specifications Of the Solar-powered Auvmentioning

confidence: 99%

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The Design and Application of a Vectored Thruster for a Negative Lift-Shaped AUV

Zhu,

Lin,

et al. 2024

Actuators

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Autonomous underwater vehicles (AUVs), as primary platforms, have significantly contributed to underwater surveys in scientific and military fields. Enhancing the maneuverability of autonomous underwater vehicles is crucial to their development. This study presents a novel vectored thruster and an optimized blade design approach to meet the design requirements of a specially shaped AUV. Determining the ideal blade characteristics involves selecting a maximum diameter of 0.18 m and configuring the number of blades to be four. Furthermore, the blades of the AUV were set to rotate at a speed of 1400 revolutions per minute (RPM). The kinematics of the thrust-vectoring mechanism was theoretically analyzed. A propulsive force test of the vectored thruster with ductless and ducted propellers was performed to evaluate its performance. A ductless propeller without an annular wing had a higher propulsive efficiency with a maximum thrust of 115 N. Open-loop control was applied to an AUV in a water tank, exhibiting a maximum velocity of 0.98 m/s and a pitch angle of 53°. The maximum rate of heading angle was 14.26°/s. The test results demonstrate that the specially designed thrust-vectoring mechanism notably enhances the effectiveness of AUVs at low forward speeds. In addition, tests conducted in offshore waters for depth and heading control validated the vectored thruster’s capability to fulfill the AUV’s motion control requirements.

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“…tests are carried out on an actual underwater vehicle to verify the performance of the propeller [23].…”

Section: Specifications Of the Solar-powered Auvmentioning

confidence: 99%

“…Secondly, an open-water test is conducted to identify the thruster parameters [22]. Finally, performance tests are carried out on an actual underwater vehicle to verify the performance of the propeller [23].…”

Section: Introductionmentioning

confidence: 99%

The Design and Application of a Vectored Thruster for a Negative Lift-Shaped AUV

Zhu,

Lin,

et al. 2024

Actuators

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“…The bionic robots have a wide range of applications in the fields of marine exploration, marine mapping, cooperative operation, etc. [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

Guo

et al. 2022

Machines

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In the navigation of underwater robots, large ocean current disturbance often causes significant tracking errors. To better resist ocean current disturbance, the hydrodynamic characteristics of the spherical underwater robot are studied, and a model predictive control strategy based on adaptive model parameters is proposed, according to these characteristics. Firstly, the hydrodynamic characteristics of the robot under static water and constant flow disturbance were obtained and analyzed by the computational fluid dynamics method. Then, the dynamic models of the robot under different disturbances could be calculated from the data obtained, based on the least square method. Finally, an adaptive model predictive control (AMPC) strategy, with an ocean current observer, was designed, based on the dynamic models. When the current disturbance velocity was twice the robot velocity, the proposed strategy reduced the tracking error by 39% and 42% in X and Y directions, respectively. In addition, the hydrodynamic characteristics were verified by experiments.

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