Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.

Application of DEM modified with enlarged particle model to simulation of bead motion in a bead mill

We applied the discrete element method （DEM） of simulation modified by an enlarged particle model to simulate bead motion in a large bead mill. The stainless-steel bead mill has inner diameter of 102 mm and mill length of 198 mm. The bead diameter and filling ratio were fixed respectively at 0.5 mm and 85%. The agitator rotational speed was changed from 1863 to 3261 rpm. The bead motion was monitored experimentally using a high-speed video camera through a transparent mill body. For the simulation, enlarged particle sizes were set as 3-6 mm in diameter. With the DEM modified by the enlarged particle model, the motion of enlarged particles in a mill was simulated.The velocity data of the simulated enlarged particles were compared with those obtained in the experiment. The simulated velocity of the enlarged particles depends on the virtual frictional coefficient in the DEM model. The optimized value of the virtual frictional coefficient can be determined by considering the accumulated mean value. Results show that the velocity of the enlarged particles simulated increases with an increase in the optimum virtual frictional coefficient, but the simulated velocity agrees well with that determined experimentally by optimizing the virtual frictional coefficient in the simulation. The computing time in the simulation decreases with increased particle size.

An Improved Underwater Confrontation Simulation Method of Naval Amphibious Operational Training System

This paper described an improved underwater confrontation simulation method of naval amphibious operational training system. The initial position of submarine forces on the enemy is generated automatically, and the attacking distance model of torpedoes is established based on the kinematics theory, which is more flexible and reasonable to judge the launch condition compared to traditional method. The two kinds of confrontation behavior models on the enemy submarine are created to depict its tactical action from the defensive to the offensive as well as the contrary, ensuring that operational style is simulated more comprehensively and properly. The existing motion trajectory estimation and collision detection algorithms on operational platforms are also improved to reduce the iteration error and further enhance the detection accuracy of target hit.