UUV Simulation Modeling and its Control Method: Simulation and Experimental Studies

This paper proposes an optimal design method for an unmanned underwater vehicle (UUV) platform to overcome strong current. First, to minimize the hydrodynamic drag components in water, the vehicle is designed to have a streamlined disc shape, which help maintaining horizontal motion (zero roll and pitch angles posture) while overcoming external current. To this end, four vertical thrusters are symmetrically mounted outside of the platform to stabilize the vehicle’s horizontal motion. In the horizontal plane, four horizontal thrusters are symmetrically mounted outside of the disc, and each of them has the same forward and reverse thrust performances. With these four thrusters, a specific thrust vector control (TVC) method is proposed, and for external current in any direction, four horizontal thrusters are controlled to generate a vectored thrust force to encounter the current while minimizing the vehicle’s rotation and maintaining its heading. However, for the numerical simulations, the vehicle’s hydrodynamic coefficients related to the horizontal plane are derived based on both theoretical and empirically derived formulas. In addition to the simulation, experimental studies in both the water tank and circulating water channel are performed to verify the vehicle’s various final performances, including its ability to overcome strong current.

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“…In general, the kinematics and dynamics of a UUV can be expressed as follows (Fossen, 2002;Li et al, 2019b).…”

Section: Vehicle's Horizontal Kinematics and Dynamicsmentioning

confidence: 99%

UUV Platform Optimal Design for Overcoming Strong Current

Kim

Kang

Lee

et al. 2021

J. Ocean Eng. Technol.

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“…From the large field of guidance, navigation, and control of underwater vehicles [4,31,[41][42][43][44][45], the 6-degree-offreedom (DoF) models in the body frame considered in this study use the following representation:…”

Section: Modeling the Auv Dynamics For Controlmentioning

confidence: 99%

A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

Hien

Truong

Bui

2020

Journal of Advanced Transportation

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This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory.

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“…The underwater wireless sensor network (UWSN) [56] infrastructure is also being utilized to support the continuity of operation of the UUV which has limitations when operating in water. Because it is supported by air-water boundary communication technology (AWBC) [57,58] and underwater cyber physical system (UCPS) for data collection needs [59,60], it is possible to collaborate on communication and control systems [57,58] for multi-environmental unmanned vehicles. Internet of Underwater Things or (IoUT) localization techniques based on reinforcement learning [61] can be used in collaboration with vessel-based UUVs to collect marine survey information [62].…”

Section: Introductionmentioning

confidence: 99%

A Survey on Unmanned Underwater Vehicles: Challenges, Enabling Technologies, and Future Research Directions

Wibisono,

Piran,

Song

et al. 2023

Sensors

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Unmanned underwater vehicles (UUVs) are becoming increasingly important for a variety of applications, including ocean exploration, mine detection, and military surveillance. This paper aims to provide a comprehensive examination of the technologies that enable the operation of UUVs. We begin by introducing various types of unmanned vehicles capable of functioning in diverse environments. Subsequently, we delve into the underlying technologies necessary for unmanned vehicles operating in underwater environments. These technologies encompass communication, propulsion, dive systems, control systems, sensing, localization, energy resources, and supply. We also address general technical approaches and research contributions within this domain. Furthermore, we present a comprehensive overview of related work, survey methodologies employed, research inquiries, statistical trends, relevant keywords, and supporting articles that substantiate both broad and specific assertions. Expanding on this, we provide a detailed and coherent explanation of the operational framework of UUVs and their corresponding supporting technologies, with an emphasis on technical descriptions. We then evaluate the existing gaps in the performance of supporting technologies and explore the recent challenges associated with implementing the Thorp model for the distribution of shared resources, specifically in communication and energy domains. We also address the joint design of operations involving unmanned surface vehicles (USVs), unmanned aerial vehicles (UAVs), and UUVs, which necessitate collaborative research endeavors to accomplish mission objectives. This analysis highlights the need for future research efforts in these areas. Finally, we outline several critical research questions that warrant exploration in future studies.

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UUV Simulation Modeling and its Control Method: Simulation and Experimental Studies

Cited by 9 publications

References 16 publications

UUV Platform Optimal Design for Overcoming Strong Current

UUV Platform Optimal Design for Overcoming Strong Current

A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

A Survey on Unmanned Underwater Vehicles: Challenges, Enabling Technologies, and Future Research Directions

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