基于CFD的具有首翼的新型飞翔形式AUV升力和阻力估计:对阻力极曲线和推力估计的见解

To achieve hydrodynamic design excellence in Autonomous Underwater Vehicles(AUVs)largely depends on the accurate prediction of lift and drag forces.The study presents Computational Fluid Dynamics(CFD)-based lift and drag estimations of a novel torpedo-shaped flight-style AUV with bow-wings.The horizontal bow-wings are provided to accommodate the electromagnetic arrays used to perform the cable detection and tracking operations near the seabed.The hydrodynamic performance of the AUV due to addition of these horizontal bow-wings is required to be investigated,particularly at the initial design stage.Hence,CFD techniques are employed to compute the lift and drag forces observed by the flight-style AUV,maneuvering underwater at different angles of attack and varying speeds.The Reynolds-Averaged Navier-Stokes Equations(RANSE)closure is achieved by employing the modified k-ϵ model and Two-Scale Wall Function(2-SWF)approach is used for boundary layer treatment.Further,the study also highlights the unique mesh refinement and solution-adaptive meshing techniques to perform the CFD simulations in Solidworks Flow Simulation(SWFS)environment.The drag polar curve for flight-style AUV with and without bow-wings is generated using the computed lift and drag coefficients.The curve provided essential insights for achieving hydrodynamically efficient and optimized AUV design.From the drag polar curve,it is revealed that due to horizontal bow-wings,the flight-style AUV is capable to generate higher lift with less drag and thus,it gives better lift-to-drag ratio compared to the AUV without bow-wings.Moreover,simulated results of axial drag observed by the AUV have also been compared with free-running experimental results and are found in good agreement.

SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

这份报纸处理同步路径列在后面多重同质的 underactuated 的问题自治在水下车辆(AUV ) 。奉献控制法律被分成二个信封：一个人正在驾驶个人在水下追踪预定义的路径的车辆，和其它正在保证要同步的多重车辆的追踪的路径，借助于在多车辆通讯拓扑学的限制下面的分散的速度改编。与这二任务明确的表达，几何路径列在后面在 Lyapunov 理论和 backstepping 技术上被造，当把舵手行为注入经典单个路径追随者控制时。路径参数的同步被从线性代数学，图理论和非线性的控制理论使用工具的混合物到达。有最小化的通讯变量的直接内部车辆的速度改编上的一个简单却有效的控制图案，使 multi-AUV 系统能被同步并且稳定进一不变歧管，并且所有速度作为一个副产品收敛到需要的任务。模拟结果说明法律建议了的同步路径追随者控制的表演。