scholarly journals Energy-saving control of long-range autonomous underwater vehicle vertical plane based on human simulating intelligent control method

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142094474
Author(s):  
Hao Xu ◽  
Guo-cheng Zhang ◽  
Yu-shan Sun ◽  
Shuo Pang
Keyword(s):  
Energy Consumption ◽  
Long Range ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Vertical Plane ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Simulation Experiments ◽  
Wide Range

The long-range autonomous underwater vehicle is a new underwater vehicle with capability of stereoscopic observation of the ocean over a wide range of time series. This article proposed a novel control strategy for the long-range autonomous underwater vehicle considering the energy consumption. The vertical motion model of long-range autonomous underwater vehicle and the mathematical model of energy consumption of motion actuators are established in this article, and the maneuverability simulation experiments were carried out to analyze its motion and energy consumption characteristics. A hybrid controller based on human simulating intelligent control and S-plane control is designed. Considering the moment caused by the asymmetry of the hull in motion, an adaptive dynamic control allocation strategy is designed. Simulation experiments are conducted to demonstrate the performance of the scheme proposed.

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

2014 ◽  
Vol 701-702 ◽  
pp. 704-710 ◽  
Author(s):  
Viacheslav Pshikhopov ◽  
Yuriy Chernukhin ◽  
Viktor Guzik ◽  
Mikhail Medvedev ◽  
Boris Gurenko ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Underwater Vehicle ◽  
Intelligent Control System ◽  
Azov Sea ◽  
Complex Simulation ◽  
Point To Point

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

scholarly journals Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Xuliang Yao ◽  
Guangyi Yang
Keyword(s):  
Energy Consumption ◽  
Predictive Control ◽  
Autonomous Underwater Vehicle ◽  
Optimization Problems ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Generalized Predictive Control ◽  
Time Step ◽  
Control Approach ◽  
Output Constraints

This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumption. Performance index based on pitch stabilizing performance, energy consumption, and system constraints is used to derive the control action applied for each time step. In order to deal with constrained optimization problems, a Hildreth’s QP procedure is adopted. Simulation results of AUV longitudinal control show better stabilizing performance and minimized energy consumption improved by multivariable GPC.

scholarly journals Optimal design of nose and tail of an autonomous underwater vehicle hull to reduce drag force using numerical simulation

2019 ◽  
Vol 234 (1) ◽  
pp. 76-88 ◽  
Author(s):  
Mohammad Saghafi ◽  
Roham Lavimi
Keyword(s):  
Energy Consumption ◽  
Drag Force ◽  
Autonomous Underwater Vehicle ◽  
Turbulence Modeling ◽  
Stokes Equations ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Navier Stokes

In this research, the flow around the autonomous underwater vehicles with symmetrical bodies is numerically investigated. Increasing the drag force in autonomous underwater vehicles increases the energy consumption and decreases the duration of underwater exploration and operations. Therefore, the main objective of this research is to decrease drag force with the change in geometry to reduce energy consumption. In this study, the decreasing or increasing trends of the drag force of axisymmetric bare hulls have been studied by making alterations in the curve equations and creating the optimal geometric shapes in terms of hydrodynamics for the noses and tails of autonomous underwater vehicles. The incompressible, three-dimensional, and steady Navier–Stokes equations have been used to simulate the flow. Also, k-ε Realizable with enhanced wall treatment was used for turbulence modeling. Validation results were acceptable with respect to the 3.6% and 1.4% difference with numerical and experimental results. The results showed that all the autonomous underwater vehicle hulls designed in this study, at an attack angle of 0°, had a lower drag force than the autonomous underwater vehicle hull used for validation except geometry no. 1. In addition, nose no. 3 has been selected as the best nose according to the lowest value of stagnation pressure, and also tail no. 3 has been chosen as the best tail due to the production of the lowest vortex. Therefore, geometry no. 5 has been designed using nose and tail no. 3. The comparison made here showed that the maximum drag reduction in geometry no. 5 was equal to 26%, and therefore, it has been selected as the best bare hull in terms of hydrodynamics.

Conceptual Design and Key Technology Development of a Long-Range Underwater Vehicle Traveling Over Thousands Kilometers

2009 ◽  
Author(s):  
Hiroshi Yoshida ◽  
Sawa Takao ◽  
Tadahiro Hyakudome ◽  
Shojiro Ishibashi ◽  
Hiroshi Ochi ◽  
...  
Keyword(s):  
Fuel Cell ◽  
Research And Development ◽  
Long Range ◽  
Autonomous Underwater Vehicle ◽  
Technology Development ◽  
Underwater Vehicle ◽  
Cell System ◽  
Polymer Electrolyte Fuel Cell ◽  
Power Sources ◽  
Long Time

The underwater platform which has enough ability to cruise globally and freely in vast deep sea will allow us to make the survey of entire oceans. We aim to develop an underwater platform which travels and surveys across entire oceans for the research into the global change, ocean-trench earthquake, and biodiversity and so on. We have developed the first prototype underwater platform or the long-range cruising autonomous underwater vehicle (LCAUV) named Urashima since 1998. The vehicle powered by a polymer electrolyte fuel cell system marked the world record of cruising distance of 317 kilometers in 2005. The vehicle has the following specifications: length; 10 m, weight; 10 tons, maximum depth ratings; 3500 m, maximum cruising speed; 3.2 knots, and endurance; 60 hours. This large vehicle has large user payload of a few hundreds kilograms. In 2007, we started research and development of the elemental technologies which will be utilizes for development of the second generation LCAUV to achieve cruising range of over 3000 kilometers. The technologies under research and development are power sources, navigation methods, communication methods, vehicle controllers, materials for body, and advanced sensors for highly resolution survey. The fuel cell and secondary battery hybrid system is had to improve at energy efficiency to generate electricity as possible for long time running with limited energy. A high accuracy inertial navigation system and an underwater positioning system being covered area of over 1000 km are under development. A synthesized aperture sonar is also under development.

Design of Novel Shaftless Pump-Jet Propulsor for Multi-Purpose Long-Range and High-Speed Autonomous Underwater Vehicle

2016 ◽  
Vol 52 (7) ◽  
pp. 1-4 ◽  
Author(s):  
Yang Shen ◽  
Pengfei Hu ◽  
Shuanbao Jin ◽  
Yingsan Wei ◽  
Rensheng Lan ◽  
...  
Keyword(s):  
Long Range ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

scholarly journals Finding and Tracking a Phytoplankton Patch by a Long-Range Autonomous Underwater Vehicle

2021 ◽  
pp. 1-9
Author(s):  
Yanwu Zhang ◽  
Michael A. Godin ◽  
Brian Kieft ◽  
Ben-Yair Raanan ◽  
John P. Ryan ◽  
...  
Keyword(s):  
Long Range ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

scholarly journals Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model

Electronics ◽  
2021 ◽  
Vol 10 (21) ◽  
pp. 2686
Author(s):  
Maria Tomas-Rodríguez ◽  
Elías Revestido Herrero ◽  
Francisco J. Velasco
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Linear Time ◽  
Control Design ◽  
Underwater Vehicle ◽  
Minimum Variance ◽  
Use Of Self ◽  
Self Tuning ◽  
Heading Angle ◽  
Iteration Technique

This paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original nonlinear problem and a self-tuning control method so that the controller is designed at each time point on the interval for trajectory tracking and heading angle control. This work makes use of self-tuning minimum variance principles. The benefit of this approach is that the nonlinearities and couplings of the system are preserved, unlike in the cases of control design based on linearized systems, reducing in this manner the uncertainty in the model and increasing the robustness of the controller. The simulations here presented use a torpedo-shaped underwater vehicle model and show the good performance of the controller and accurate tracking for certain maneuvering cases.

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