An integrated hydrodynamics and control model of a tethered underwater robot

Jia-ming Wu, Ying Xu, Longbin Tao, Miao Yu, Yi-zhe Dou

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.
LanguageEnglish
Pages557-569
Number of pages13
JournalChina Ocean Engineering
Volume32
Issue number5
Early online date26 Sep 2018
DOIs
Publication statusPublished - 31 Oct 2018

Fingerprint

Hydrodynamics
hydrodynamics
Robots
cable
Propellers
kinematics
Kinematics
Cables
Navier-Stokes equations
finite difference method
computational fluid dynamics
Attitude control
Sliding mode control
Fuzzy control
sliding
Finite difference method
Navier Stokes equations
Equations of motion
trajectory
Computational fluid dynamics

Keywords

  • tethered underwater robot
  • umbilical cable
  • ducted propeller
  • fuzzy sliding mode control
  • CFD
  • trajectory and attitude control

Cite this

Wu, Jia-ming ; Xu, Ying ; Tao, Longbin ; Yu, Miao ; Dou, Yi-zhe. / An integrated hydrodynamics and control model of a tethered underwater robot. In: China Ocean Engineering. 2018 ; Vol. 32, No. 5. pp. 557-569.
@article{5b79494c30924b34ad35a6043299cde0,
title = "An integrated hydrodynamics and control model of a tethered underwater robot",
abstract = "An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.",
keywords = "tethered underwater robot, umbilical cable, ducted propeller, fuzzy sliding mode control, CFD, trajectory and attitude control",
author = "Jia-ming Wu and Ying Xu and Longbin Tao and Miao Yu and Yi-zhe Dou",
year = "2018",
month = "10",
day = "31",
doi = "10.1007/s13344-018-0058-1",
language = "English",
volume = "32",
pages = "557--569",
journal = "China Ocean Engineering",
issn = "0890-5487",
number = "5",

}

An integrated hydrodynamics and control model of a tethered underwater robot. / Wu, Jia-ming; Xu, Ying; Tao, Longbin; Yu, Miao; Dou, Yi-zhe.

In: China Ocean Engineering, Vol. 32, No. 5, 31.10.2018, p. 557-569.

Research output: Contribution to journalArticle

TY - JOUR

T1 - An integrated hydrodynamics and control model of a tethered underwater robot

AU - Wu, Jia-ming

AU - Xu, Ying

AU - Tao, Longbin

AU - Yu, Miao

AU - Dou, Yi-zhe

PY - 2018/10/31

Y1 - 2018/10/31

N2 - An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.

AB - An integrated hydrodynamics and control model to simulate tethered underwater robot system is proposed. The governing equation of the umbilical cable is based on a finite difference method, the hydrodynamic behaviors of the underwater robot are described by the six-degrees-of-freedom equations of motion for submarine simulations, and a controller based on the fuzzy sliding mode control (FSMC) algorithm is also incorporated. Fluid motion around the main body of moving robot with running control ducted propellers is governed by the Navier–Stokes equations and these nonlinear differential equations are solved numerically via computational fluid dynamics (CFD) technique. The hydrodynamics and control behaviors of the tethered underwater robot under certain designated trajectory and attitude control manipulation are then investigated based on the established hydrodynamics and control model. The results indicate that satisfactory control effect can be achieved and hydrodynamic behavior under the control operation can be observed with the model; much kinematic and dynamic information about tethered underwater robot system can be forecasted, including translational and angular motions of the robot, hydrodynamic loading on the robot, manipulation actions produced by the control propellers, the kinematic and dynamic behaviors of the umbilical cable. Since these hydrodynamic effects are fed into the proposed coupled model, the mutual hydrodynamic influences of different portions of the robot system as well as the hydrological factors of the undersea environment for the robot operation are incorporated in the model.

KW - tethered underwater robot

KW - umbilical cable

KW - ducted propeller

KW - fuzzy sliding mode control

KW - CFD

KW - trajectory and attitude control

U2 - 10.1007/s13344-018-0058-1

DO - 10.1007/s13344-018-0058-1

M3 - Article

VL - 32

SP - 557

EP - 569

JO - China Ocean Engineering

T2 - China Ocean Engineering

JF - China Ocean Engineering

SN - 0890-5487

IS - 5

ER -