scholarly journals An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle

2021 ◽  
Vol 9 (3) ◽  
pp. 249
Author(s):  
Yu Dai ◽  
Cong Xue ◽  
Qiao Su
Keyword(s):  
Deep Sea ◽  
Fuzzy Controller ◽  
Grid Method ◽  
Path Tracking ◽  
Mechanical Interaction ◽  
Logic Control ◽  
Overset Grid Method ◽  
Computational Fluid Dynamics Cfd ◽  
Multi Body ◽  
Hydrodynamic Effects

The capability of path tracking largely determines the operational efficiency of deep-sea mining vehicles. In this paper, the relationships of vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish the computational fluid dynamics (CFD) model of the vehicle, and the spatial hydrodynamic distribution was calculated in different motion states. Based on the above research, a multi-body dynamic (MBD) model of the mining vehicle was developed, which considered the spatial hydrodynamic effects and the mechanical interaction between vehicle and sediment. In addition, a path-tracking controller based on fuzzy logic control was proposed. A genetic algorithm optimized the fuzzy rules through co-simulation between the controller and the MBD model. Finally, the co-simulation results of the vehicle which moved along the expected path indicated that the performance of the optimized fuzzy controller was preferable to the original fuzzy controller.

Simulation of Working Posture of Deepwater Gravity Sampling Device Using OpenFOAM

2018 ◽  
Author(s):  
Zhe Ma ◽  
Danya Kong ◽  
Yin Wang ◽  
Nianxin Ren ◽  
Gangjun Zhai
Keyword(s):  
Sampling Rate ◽  
Grid Method ◽  
Sampling Device ◽  
Overset Grids ◽  
Working Posture ◽  
Overset Grid Method ◽  
Computational Fluid Dynamics Cfd ◽  
Marine Engineering ◽  
Free Falling ◽  
The Relationship

Computational fluid dynamics (CFD) has been widely used in the field of marine engineering recent years. In this work, the free falling process and working posture of gravity sampler have been studied using OpenFOAM. The overset grids have been used to simulate the movement of the sampler in the flow field. Main works are as follows: (1) verifying the accuracy of the overset grid method; (2) establishing a numerical model using the Newmark method to analyze the responses of sampler vertical and slant drop; (3) investigating the relationship among the deflection angle, falling speed and sampling rate of sampler. Finally, the best fall distance of GPS-01 sampler has been recommended in combination with the falling velocity and the initial falling angle.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

Numerical simulation of an X-wing flapping wing MAV by means of a deforming overset grid method

2015 ◽  
Author(s):  
Shuanghou Deng ◽  
Tianhang Xiao ◽  
Mustafa Percin ◽  
Bas van Oudheusden ◽  
Hester Bijl ◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Grid Method ◽  
Flapping Wing ◽  
Overset Grid ◽  
Overset Grid Method

Prediction of Slamming Loads on Catamaran Wetdeck Using CFD

2015 ◽  
Author(s):  
Ahmed Swidan ◽  
Giles Thomas ◽  
Dev Ranmuthugala ◽  
Irene Penesis ◽  
Walid Amin ◽  
...  
Keyword(s):  
Model Simulation ◽  
Three Dimensional ◽  
Grid Method ◽  
Computationally Efficient ◽  
Overset Grid ◽  
Force Magnitude ◽  
Overset Grid Method ◽  
Drop Tests ◽  
Transient Velocity ◽  
Transient Velocity Profile

Wetdeck slamming is one of the principal hydrodynamic loads acting on catamarans. CFD techniques are shown to successfully characterise wetdeck slamming loads, as validated through a series of controlled-speed drop tests on a three-dimensional catamaran hullform model. Simulation of water entry at constant speed by applying a fixed grid method was found to be more computationally efficient than applying an overset grid. However, the overset grid method for implementing the exact transient velocity profile resulted in better prediction of slam force magnitude. In addition the splitting force concurrent with wetdeck slam event was quantified to be 21% of the vertical slamming force.

Study of Self-Propelled Pufferfish Driven by Multiple Fins: A Comparison Between Rigid and Deformable Fins

2017 ◽  
Author(s):  
Ruoxin Li ◽  
Qing Xiao ◽  
Lijun Li ◽  
Hao Liu
Keyword(s):  
Underlying Mechanism ◽  
Operating Conditions ◽  
The Self ◽  
Fish Swimming ◽  
Propulsion Efficiency ◽  
Live Fish ◽  
Body Dynamics ◽  
Computational Fluid Dynamics Cfd ◽  
Multi Body ◽  
Better Than

In this work, we numerically studied the steady swimming of a pufferfish driven by the undulating motion of its dorsal, anal and caudal fins. The simulations are based on experimentally measured kinematics. To model the self-propelled fish swimming, a Computational Fluid Dynamics (CFD) tool was coupled with a Multi-Body-Dynamics (MBD) technique. It is widely accepted that deformable/flexible or undulating fins are better than rigid fins in terms of propulsion efficiency. To elucidate the underlying mechanism, we established an undulating fins model based on the kinematics of live fish, and conducted a simulation under the same operating conditions as rigid fins. The results presented here agree with this view by showing that the contribution of undulating fins to propulsion efficiency is significantly larger than that of rigid fins.

An overset grid method for large eddy simulation of turbomachinery stages

2014 ◽  
Vol 274 ◽  
pp. 333-355 ◽  
Author(s):  
Gaofeng Wang ◽  
Florent Duchaine ◽  
Dimitrios Papadogiannis ◽  
Ignacio Duran ◽  
Stéphane Moreau ◽  
...  
Keyword(s):  
Large Eddy Simulation ◽  
Grid Method ◽  
Overset Grid ◽  
Eddy Simulation ◽  
Large Eddy ◽  
Overset Grid Method
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