Documente Academic
Documente Profesional
Documente Cultură
DOI 10.1007/s00773-014-0259-0
ORIGINAL ARTICLE
1 Introduction
The YSI EcoMapper autonomous underwater vehicle (Fig. 1)
has a large sensor payload, a small size for rapid deployment
by one person, and intuitive mission planning software. It is
widely used in environmental mapping [14]. Using the
remote helm functionality of the EcoMapper, users can take
full control of the vehicle [5]. To precisely control the
EcoMapper, a dynamic model is needed. However, to the
best of our knowledge, no dynamic model of the EcoMapper
C. Wang (&) F. Zhang
The School of Electrical and Computer Engineering,
The Georgia Institute of Technology, Atlanta, GA, USA
e-mail: cwang329@gatech.edu
F. Zhang
e-mail: fumin@ece.gatech.edu
C. Wang D. Schaefer
The George W. Woodruff School of Mechanical Engineering,
The Georgia Institute of Technology, Atlanta, GA, USA
e-mail: dirk.schaefer@me.gatech.edu
123
123
g_ Jg2 V;
swc/ cwshs/
cwc/ s/shsw
cwch
6
J1 g2 4 swch
sh
3
sws/ cwc/sh
7
cws/ shswc/ 5
chs/
0
6 0
6
6
6 0
CRB V 6
6 0
6
6
4 mw
mv
chc/
and
1
6
J2 g2 4 0
0
s/th
c/
s/=ch
Xw_
Xp_
Xq_
Yw_
Yp_
Yq_
Zw_
Zp_
Zq_
Kw_
Kp_
Kq_
Mw_
Mp_
Mq_
Nw_
Np_
Nq_
Iz
Xr_
7
Yr_ 7
7
Zr_ 7
7
7;
Kr_ 7
7
Mr_ 7
5
Nr_
mv
mw
0
mv
mu
0
Iyz q Ixz p Iz r
mu
mw
0
Iyz r Ixy p Iy q
3
mv
7
mu
7
7
7
0
7;
Iyz r Ixy p Iy q 7
7
7
Ixz r Ixy q Ix p 5
6
6
6
6
CA V 6
6
6
6
4
0
0
0
0
0
0
0
a3
a3
0
a2
a1
0
a3
a3
0
a2
a1
0
b3
b3
0
a2
a1
b2
b1
10
3
a2
a1 7
7
7
0 7
7;
b2 7
7
7
b1 5
0
11
where
a1 Xu_ u Xv_ v Xw_ w Xp_ p Xq_ q Xr_r;
a2 Xv_ u Yv_ v Yw_ w Yp_ p Yq_ q Yr_r;
a3 Xw_ u Yw_ v Zw_ w Zp_ p Zq_ q Zr_r;
b1 Xp_ u Yp_ v Zp_ w Kp_ p Kq_ q Kr_r;
b2 Xq_ u Yq_ v Zq_ w Kq_ p Mq_ q Mr_r;
12
Ixz r Ixy q Ix p
M MRB MA ;
Izx
0
mw
3
c/th
7
s/ 5:
c/=ch
0 0 0
2
Xu_ Xv_
6
6 Yu_ Yv_
6
6 Zu_ Zv_
6
MA 6
6 Ku_ Kv_
6
6M M
4 u_
v_
Nu_ Nv_
0
0
mu
Iyz q Ixz p Iz r
4
2
0
0
13
123
14
23
24
25
26
sx sx u; a; b; sy sy u; b; sz sz u; a;
s/ 0; sh sh u; a; sw sw u; b:
sx 0; a; b sy 0; b sz 0; a sh 0; a sw 0; b 0:
sh UTa bsh ;
15
As the EcoMapper is symmetric about xz plane without
considering vertical fins, and the vertical fins are symmetric
about xy plane, it is easy to derive the following properties
from physics.
sx u; a; b sx u; a; b;
16
sy u; b sy u; b;
17
sw u; b sw u; b:
18
19
sh u; a sh u; 0 sh u; a sh u; 0;
20
sx u; a; b sx u; a; b:
21
123
22
Ub2 u; b2 u; u2 ; b2 u2 ;
27
28
29
30
31
fthrust cn2 ;
32
3 Parameter identification
This section provides the procedure to calculate MRB , MA ,
CRB , CA , hydrodynamic damping coefficients bsx , bsy , bsz ,
bsh , and bsw , and propeller coefficient c for the dynamic
model of the EcoMapper.
3.1 MRB and CRB
We use Solidworks, a three-dimensional mechanical
computer-aided design software, to calculate inertia matrix
MRB for the EcoMapper. In Solidworks, we draw the
geometry of the EcoMapper as shown in Fig. 3 and use the
mass properties functionality of Solidworks to calculate
inertia matrix MRB . The Solidworks geometry file of the
EcoMapper will be further used as the database file for grid
generating for CFD calculations.
The mass m and density q of the EcoMapper are as
follows:
m 27:2 kg;
33
3
q 1000 kg=m :
34
0
6
6
0
6
6
0
6
CRB V 6
6
0
6
6 27:2w
4
27:2v
27:2w
27:2v
27:2u
27:2u
27:2w
27:2w
27:2v
27:2u
4:7159r
4:7159r
4:723q
0:0743p
27:2v
36
7
27:2u 7
7
7
0
7
7:
4:723q 7
7
0:0743p 7
5
0
3.2 MA and CA
The nose of the EcoMapper is a light plastic cylindrical
shell, and most spaces in the nose are empty, so we neglect
the mass of the nose when calculating MA and CA . We also
neglect the four fins and treat the EcoMapper as a cylindrical rigid body to simplify the calculation for MA and CA .
We can see this approximation is rational from the fact that
MRB is approximately a diagonal matrix.
According to the strip theory [6], [7] provides the following formulas for all non-zero hydrodynamic added
mass force coefficients for a cylindrical rigid body with a
mass m, a length L, and a radius of the circular section r,
assuming it is immersed in a fluid with density q.
Xu_ 0:1m; Yv_ pqr 2 L; Zw_ pqr 2 L;
1
1
Mq_ pqr 2 L3 ; Nr_ pqr 2 L3 :
12
12
37
38
39
123
0
6
0
6
6
6
0
CA V 6
6
0
6
6
4 23:8250w
0
0
0
0
23:8250w
0
23:8250v
2:72u
23:8250v
2:72u
0
3
0
23:8250w 23:8250v
7
23:8250w
0
2:72u
7
7
7
23:8250v
2:72u
0
7:
0
3:8914r
3:8914q 7
7
7
5
3:8914r
0
0
3:8914q
40
3.3 shydr
To get enough data to study the hydrodynamic damping
coefficients, we do CFD simulations for the EcoMapper at
four speeds, that is, 0.25, 0.5, 0.75, and 1 m/s, as the maximum speed of the EcoMapper is designed around 1 m/s. For
each speed, we change the vertical-fin angle from 0 to 35
and horizontal-fin angle from 35 to 35 , with a step size 5 ,
and calculate the corresponding hydrodynamic damping
forces and moments in the CFD software Ansys-CFX.
Therefore, CFD calculations are carried out at 88 data points.
For each specified fin angle, first we draw the corresponding
EcoMapper geometry in Solidworks; then using the Solidworks geometry file as the database file, we generate a mesh
file for the EcoMapper in Gridgen, a mesh generator, and
import it into Ansys-CFX. In CFX, we specify the EcoMapper speed in the boundary condition and calculate the
hydrodynamic damping forces and moments.
To calculate the hydrodynamic damping terms corresponding to a specified EcoMapper speed, which is along x
Fig. 4 Fluid domain
123
bsy AT A1 AT Y:
41
123
42
The original data points and fitted curve are plotted in Fig.
16.
3.5 Damping matrix D
The last term to identify is the damping matrix D, given
which, we will complete the model and be able to simulate
the motion of the EcoMapper, including the linear and
123
u 1 m/s
u 0:75 m/s
u 0:5 m/s
u 0:25 m/s
35
30
25
20
15
10
5
10
15
20
25
30
35
u 1 m/s
u 0:75 m/s
u 0:5 m/s
u 0:25 m/s
35
30
25
20
15
10
5
5
10
15
20
25
30
35
the time and do not care about Kp . All other terms are
obtained in similar ways. We listed them below and complete the dynamic model of the EcoMapper.
Xu 7; Yv 231; Zw 229; Mq 53; Nr 48:
43
4 Experiment validation
To demonstrate the validity of the proposed model, we
carried out a series of field experiments in the west pond
(latitude 32.167 , longitude 81:210 ) in the Georgia Tech
123
u 1 m/s
u 0:75 m/s
u 0:5 m/s
u 0:25 m/s
35
30
25
20
15
10
5
0
u 1 m/s
u 0:75 m/s
u 0:5 m/s
u 0:25 m/s
35
30
25
20
15
10
depth from surface, propeller command value, and finangles command value. Through the propeller rotation
speeds and fin angles in the experiments, which can be
derived from propeller command values and fin-angle
command values in the log file, we can use the proposed
model to simulate the motion of the EcoMapper and
compare the simulation results with the experiential results.
During simulations, a step size Dt 0:0001 s is used. As
123
123
bTsy
bTsz
bTsh
bTsw
sthrust in
experiment 1
(lb)
sthrust in
experiment
2
sthrust in
experiment
3
sthrust in
experiment
4
186
0.1
371
558
1
1.2
0.2
1
0.2
1
0.2
1
745
1.8
1.9
933
1118
4.1
1304
5.9
1490
1675
9.8
10.8
10.8
10.4
1863
11.8
13.2
11.6
13
2012
14.3
14
14.3
15
123
despite some subtle differences. The average of the differences in Figs. 22 and 23 are 0.0438 and 0.0147 rad/s,
respectively.
5 Conclusion
This paper proposed a dynamic model to describe the
motion of the EcoMapper. Using theoretical calculations,
CFS simulations, and field tests, we identified all the
123
parameters in the model. We also performed field experiments to validate the proposed model, and the experimental
data are consistent with simulation results. Therefore, the
proposed model may be used to simulate the EcoMapper
motions and compute desired control input for the EcoMapper in real-time control. The modeling methods in this
paper may also apply to other underwater vehicles with
control surfaces.
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