In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driv...In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.展开更多
The present paper deals with very important practical problems of wide range of applications. The main target of the present paper is to track all moving boundaries that appear throughout the whole process when dealin...The present paper deals with very important practical problems of wide range of applications. The main target of the present paper is to track all moving boundaries that appear throughout the whole process when dealing with multi-moving boundary problems continuously with time up to the end of the process with high accuracy and minimum number of iterations. A new numerical iterative scheme based the boundary integral equation method is developed to track the moving boundaries as well as compute all unknowns in the problem. Three practical applications, one for vaporization and two for ablation were solved and their results were compared with finite element, heat balance integral and the source and sink results and a good agreement were obtained.展开更多
基金Project(51505491)supported by the National Natural Science Foundation of ChinaProject(ZR2014EEP019)supported by the Natural Science Foundation of Shandong Province,China
文摘In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.
文摘The present paper deals with very important practical problems of wide range of applications. The main target of the present paper is to track all moving boundaries that appear throughout the whole process when dealing with multi-moving boundary problems continuously with time up to the end of the process with high accuracy and minimum number of iterations. A new numerical iterative scheme based the boundary integral equation method is developed to track the moving boundaries as well as compute all unknowns in the problem. Three practical applications, one for vaporization and two for ablation were solved and their results were compared with finite element, heat balance integral and the source and sink results and a good agreement were obtained.
