Abstract
A moveable lander has the advantages of low cost and strong controllability and is gradually becoming an effective autonomous ocean observation platform. In this study, the hydrodynamic property of the Lingyun moveable lander, which has completed experiments in the Mariana Trench in 2020, is analyzed with the semiempirical method and computational fluid dynamic (CFD) method. We calculate the inertial hydrodynamic coefficients and viscous hydrodynamic coefficients of the lander. The results show that the CFD can provide the hydrodynamic property for the moveable lander’s design. The dynamic equations and kinematic equations are completely constructed combined with the hydrodynamic coefficients. Subsequently, this paper utilized the PID control method and S control method to control the motions of the lander. The simulation results show that the methods accurately follow the preplanned path.
Highlights
At present, autonomous underwater vehicle (AUV) has been widely utilized in ocean exploration, marine science, marine sampling, and other fields [1]
When we select the computational fluid dynamic (CFD) method to obtain the hydrodynamic coefficients, an appropriate virtual boundary is established to convert the bypass flow problem into an internal flow problem, and the RANS equation is utilized to solve in the space region formed by the virtual boundary and the moveable lander
The analysis and calculation of the full set of hydrodynamic coefficients of the Lingyun moveable lander are completed by the CFD method, and the calculation results are meeting the needs of vehicle design modelling establishment
Summary
Autonomous underwater vehicle (AUV) has been widely utilized in ocean exploration, marine science, marine sampling, and other fields [1]. The hydrodynamic coefficient is significant to moveable lander design, motion control, and cruise plan [9]. In order to precisely control a moveable lander, its dynamic model needs to be established to meet hydrodynamic simulation and real-time control.
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