Innovative design and motion mechanism analysis for a multi-moving state autonomous underwater vehicles
- 76 Downloads
In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle (AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV’s arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV’s trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.
Key wordsmulti-moving state autonomous underwater vehicle innovative design motion mechanism wave disturbance
Unable to display preview. Download preview PDF.
- LUDVIGSEN M, JOHNSEN G, LAGSTAD P A, SRENSEN A J, DEGARD Y. Scientific operations combining ROV and AUV in the Trondheim Fjord [J]. Oceans, 2013, 48(2): 1−7.Google Scholar
- PAN Cun-yun, LI Ming-yu, et al. Kinematics analysis and simulation of the omni-directional deflection joint [J]. Machine Design and Research, 2007, 23(3): 27–36. (in Chinese)Google Scholar
- PAN Cun-yun, Li Ming-yun, et al. A new wheel-legged locomotive system composed of bionic joints [J]. China Mechanical Engineering, 2009, 20(18): 2142–2148. (in Chinese)Google Scholar
- GAO Fu-dong, PAN Cun-yun. Parameterized design and analysis of the complicated curved-surface propeller in solid modeling [J]. Mechanical Science and Technology for Aerospace Engineering, 2011, 30(1): 1–5. (in Chinese)Google Scholar
- XU Hai-jun, PAN Cun-yun, FANG Shi-peng, et al. Solution and analysis on the orientation of the screw propeller in the flexible-axis thruster [J]. Journal of Mechanical Transmission, 2009, 33(3): 4–10. (in Chinese)Google Scholar