Abstract
This paper presents a numerical study of the depth tracking control for an underwater towed system under wave–ship interference condition. To overcome the laminations of ignoring the hydrodynamic factors and wave–ship interference in the existing simulation model for the depth tracking operation of the underwater towed system, a numerical model combining the control system with the computational fluid dynamics (CFD) method based on the overset mesh technique is explored and constructed; the influence of towing ship and head waves is introduced into the numerical analysis of the underwater towed system; a depth control system based on the center of gravity adjustment is proposed and its control characteristics are discussed. The fluid motion around the towed vehicle and the towing ship is governed by the Navier–Stokes equations, and the overset mesh technique is applied for the numerical solution of the equations. The towing cable connecting the towed vehicle and towing ship is governed by the quasi-steady-state catenary equations. The depth tracking controller adjusting the longitudinal position of a shifting weight is constructed based on the proportional–integral–derivative (PID) algorithm. The simulation results show that the numerical simulation system is practicable, and the depth tracking control system is feasible, effective, and robust.
Highlights
Published: 13 August 2021The underwater towed system has been found widely used in the collection of marine environmental parameters [1]
The main contributions of this paper include the followings: firstly, a numerical model combining the control system with the computational fluid dynamics (CFD) method based on the overset mesh technique is explored and constructed; secondly, the influence of the towing ship and head waves is introduced into the numerical analysis of the underwater towed system; thirdly, a depth control system based on the center of gravity adjustment is proposed and its control characteristics, especially its dynamic mechanisms, are discussed
A numerical model combining the control system with the computational fluid dynamics methodmodel based on the oversetthe mesh technique was explored constructed. fluid numerical combining control system with theand computational
Summary
The underwater towed system has been found widely used in the collection of marine environmental parameters [1]. Much has been extensively discussed regarding the trajectory and attitude manipulation problems of different types of underwater vehicle systems, various dynamic control models or physical models have been proposed, and relevant numerical simulations or experiments have been investigated. The main contributions of this paper include the followings: firstly, a numerical model combining the control system with the CFD method based on the overset mesh technique is explored and constructed; secondly, the influence of the towing ship and head waves is introduced into the numerical analysis of the underwater towed system; thirdly, a depth control system based on the center of gravity adjustment is proposed and its control characteristics, especially its dynamic mechanisms, are discussed.
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