Abstract
The hydrodynamic characteristics of multi-propeller autonomous underwater vehicles (AUV) is usually complicated and it is difficult to obtain an accurate mathematical model. A modeling method based on CFD calculation and maximum likelihood identification algorithm is proposed for this problem. Firstly, rough hydrodynamic parameters of AUV hull are obtained by CFD calculation. Secondly, on the basis of rough parameters, a maximum likelihood identification algorithm is proposed to adjust the parameters and improve the model precision. Besides, the method to improve the convergence of identification algorithm is analyzed by considering the characteristics of AUV model structure. Finally, the identification algorithm and identification results were validated with experimental data. It was found that this method has good convergence and adaptability. In particular, the identification results of turning force and torque parameters are highly consistent in different identification experiments, which indicates that this method can well extract the maneuvering characteristics of AUVs, thus contributing to the controller design of AUVs. The research of this paper has potential application for the modeling and control of multi-propeller AUVs.
Highlights
Autonomous underwater vehicles (AUV) are used to perform a variety of tasks, including marine research, hydrologic survey, environmental monitoring, construction, facility maintenance, and rescue
Hydrodynamic parameters are obtained by computational fluid dynamics (CFD) calculation, AUV parameters about mass, inertia and geometric refer to AUV configuration file, and propeller parameters refer to equipment description
We present a model identification method for AUVs based on CFD calculation and maximum likelihood algorithm
Summary
Autonomous underwater vehicles (AUV) are used to perform a variety of tasks, including marine research, hydrologic survey, environmental monitoring, construction, facility maintenance, and rescue. The traditional ways to determine the hydrodynamic coefficient of the underwater robot include ship model experiment methods and semi-empirical methods The former are based on static and dynamic interfacing experiments which are conducted in experiment pool [4], using experimental equipment to drag the AUV model to move in the pool and measure its resistance, sway, maneuvering performance, etc., on which a mathematical model is established. In [10], the CFD method is used to calculate the hydrodynamic parameters of the six-propeller AUV, establish a mathematical model, and verify the model with the pool experimental data. A considerable alternative approach is to synthesize CFD method and system identification method for the modeling of this type of AUV This method firstly uses CFD to calculate the hydrodynamic parameters of AUV hull without consideration of propellers and obtains the initial hydrodynamic model of AUV. The motion model of the AUV is identified with the experimental data, and the established model is validated with the test data of multiple thrusters experiment
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