Abstract
In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state.
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The authors wish to thank all other members of the project Hadal ARV for their help.
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Foundation item: This research was financially supported by the National Key R & D Program of China (Grant No. 2016YFC0300802) and the Strategic Priority Research Program of the Chinese Academy of Sciences (Grant No. XDB06050200).
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Liu, Xy., Li, Yp., Wang, Yx. et al. Hydrodynamic modeling with grey-box method of a foil-like underwater vehicle. China Ocean Eng 31, 773–780 (2017). https://doi.org/10.1007/s13344-017-0088-0
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DOI: https://doi.org/10.1007/s13344-017-0088-0