An Integrated Hydrodynamics and Control Model of A Tethered Underwater Robot

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.

[1]  Masahiko Nakamura,et al.  Development of an ROV operated both as towed and self-propulsive vehicle , 2001 .

[2]  H. Akakaya,et al.  Sliding mode control of autonomous underwater vehicle , 2009, 2009 International Conference on Electrical and Electronics Engineering - ELECO 2009.

[3]  Allen T. Chwang,et al.  A hydrodynamic model of a two-part underwater towed system , 2000 .

[4]  Frederick R. Driscoll,et al.  Development and validation of a lumped-mass dynamics model of a deep-sea ROV system , 2000 .

[5]  T. Walton,et al.  Calculation of transient motion of submerged cables , 1960 .

[6]  Meyer Nahon,et al.  The motion of a deep-sea remotely operated vehicle system. Part 2 : Analytical model , 2000 .

[7]  Hyeung-Sik Choi,et al.  A study on hovering motion of the underwater vehicle with umbilical cable , 2017 .

[8]  Lionel Lapierre,et al.  Redundant actuation system of an underwater vehicle , 2018 .

[9]  Yiping Li,et al.  Hydrodynamic modeling with grey-box method of a foil-like underwater vehicle , 2017 .

[10]  Philip Sayer.  Hydrodynamic loads during the deployment of ROVs , 2008 .

[11]  Ming-Chung Fang,et al.  On the motions of the underwater remotely operated vehicle with the umbilical cable effect , 2007 .

[12]  Ahmad Bagheri,et al.  Simulation and tracking control based on neural-network strategy and sliding-mode control for underwater remotely operated vehicle , 2009, Neurocomputing.

[13]  Jiaming Wu,et al.  A Practical Numerical Method to Forecast the Hydrodynamic Behavior of a Ducted Thruster In the Flow Field of a Tethered Underwater Robot , 2009 .

[14]  Meyer Nahon,et al.  The motion of a deep-sea remotely operated vehicle system: Part 1: Motion observations , 2000 .

[15]  Joan Batlle,et al.  Designing a Fuzzy-like PD controller for an underwater robot , 2003 .

[16]  Edwin Kreuzer,et al.  An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles , 2010, Robotics Auton. Syst..

[17]  Morton Gertler,et al.  STANDARD EQUATIONS OF MOTION FOR SUBMARINE SIMULATION , 1967 .

[18]  Ye Li,et al.  Depth-trim mapping control of underwater vehicle with fins , 2011 .

[19]  Martin A. Abkowitz,et al.  Stability and motion control of ocean vehicles , 1969 .

[20]  Robert Allen,et al.  Evaluation of the effects of the communication cable on the dynamics of an underwater flight vehicle , 2004 .

[21]  C. M. Ablow,et al.  Numerical simulation of undersea cable dynamics , 1983 .