Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions

Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.

Design and Analysis of a New AUV's Sliding Control System Based on Dynamic Boundary Layer

The new AUV driven by multi-vectored thrusters not only has unique kinematic characteristics during the actual cruise but also exists uncertain factors such as hydrodynamic coefficients perturbation and unknown interference of tail fluid,which bring difficult to the stability of the AUV's control system.In order to solve the nonlinear term and unmodeled dynamics existing in the new AUV's attitude control and the disturbances caused by the external marine environment,a second-order sliding mode controller with double-loop structure that considering the dynamic characteristics of the rudder actuators is designed,which improves the robustness of the system and avoids the control failure caused by the problem that the design theory of the sliding mode controller does not match with the actual application conditions.In order to avoid the loss of the sliding mode caused by the amplitude and rate constraints of the rudder actuator in the new AUV's attitude control,the dynamic boundary layer method is used to adjust the sliding boundary layer thickness so as to obtain the best anti-chattering effects.Then the impacts of system parameters,rudder actuator's constraints and boundary layer on the sliding mode controller are computed and analyzed to verify the effectiveness and robustness of the sliding mode controller based on dynamic boundary layer.The computational results show that the original divergent second-order sliding mode controller can still effectively implement the AUV's attitude control through dynamically adjusting the sliding boundary layer thickness.The dynamic boundary layer method ensures the stability of the system and does not exceed the amplitude constraint of the rudder actuator,which provides a theoretical guidance and technical support for the control system design of the new AUV in real complex sea conditions.

Numerical computation and analysis of unsteady viscous flow around autonomous underwater vehicle with propellers based on sliding mesh

The flexible transmission shaft and wheel propeller are combined as the kinetic source equipment,which realizes the multi-motion modes of the autonomous underwater vehicle(AUV) such as vectored thruster and wheeled movement.In order to study the interactional principle between the hull and the wheel propellers while the AUV navigating in water,the computational fluid dynamics(CFD) method is used to simulate numerically the unsteady viscous flow around AUV with propellers by using the Reynolds-averaged Navier-Stokes(RANS) equations,shear-stress transport(SST) k-w model and pressure with splitting of operators(PISO) algorithm based on sliding mesh.The hydrodynamic parameters of AUV with propellers such as resistance,pressure and velocity are got,which reflect well the real ambient flow field of AUV with propellers.Then,the semi-implicit method for pressure-linked equations(SIMPLE) algorithm is used to compute the steady viscous flow field of AUV hull and propellers,respectively.The computational results agree well with the experimental data,which shows that the numerical method has good accuracy in the prediction of hydrodynamic performance.The interaction between AUV hull and wheel propellers is predicted qualitatively and quantitatively by comparing the hydrodynamic parameters such as resistance,pressure and velocity with those from integral computation and partial computation of the viscous flow around AUV with propellers,which provides an effective reference to the study on noise and vibration of AUV hull and propellers in real environment.It also provides technical support for the design of new AUVs.

Numerical computation and analysis of high-speed autonomous underwater vehicle (AUV) moving in head sea based on dynamic mesh

Autonomous underwater vehicles (AUVs) navigating on the sea surface are usually required to complete the communication tasks in complex sea conditions.The movement forms and flow field characteristics of a multi-moving state AUV navigating in head sea at high speed were studied.The mathematical model on longitudinal motion of the high-speed AUV in head sea was established with considering the hydrodynamic lift based on strip theory,which was solved to get the heave and pitch of the AUV by Gaussian elimination method.Based on this,computational fluid dynamics (CFD) method was used to establish the mathematical model of the unsteady viscous flow around the AUV with considering free surface effort by using the Reynolds-averaged Navier-Stokes (RANS) equations,shear-stress transport (SST) k-w model and volume of fluid (VOF) model.The three-dimensional numerical wave in the computational field was realized through defining the unsteady inlet boundary condition.The motion forms of the AUV navigating in head sea at high speed were carried out by the program source code of user-defined function (UDF) based on dynamic mesh.The hydrodynamic parameters of the AUV such as drag,lift,pitch torque,velocity,pressure,and wave profile were got,which reflect well the real ambient flow field of the AUV navigating in head sea at high speed.The computational wave profile agrees well with the experimental phenomenon of a wave-piercing surface vehicle.The force law of the AUV under the impacts of waves was analyzed qualitatively and quantitatively,which provides an effective theoretical guidance and technical support for the dynamics research and shape design of the AUV in real complex environment.

Analysis and innovation of key technologies for autonomous underwater vehicles

As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.

Innovative design and motion mechanism analysis for a multi-moving state autonomous underwater vehicles

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.

The Non-Equidistant Grey GRM (1, 1) Model and Its Application

Applying the modeling method of Grey system and accumulated generating operation of reciprocal number for the problem of lower precision as well as lower adaptability in non-equidistant GM (1, 1) model, the calculation formulas were deduced and a non-equidistant GRM (1, 1) model generated by accumulated generating operation of reciprocal number was put forward .The grey GRM (1, 1) model can be used in non-equal interval & equal interval time series and has the characteristic of high precision as well as high adaptability. Example validates the practicability and reliability of the proposed model.

Research on Distance Judgement Method from Point to Line to Generate a Line

Regarding the problem that the traditional straight-line generating has a low accuracy, we study straight-line generating with the distance of point to line. We explore generating a line to approximate the ideal line and the issue is to pick out the pixel point of approximating the ideal line. The paper plays a significant scientific role in elucidating linear optimization norm and it lays a foundation for showing a straight line. The algorithm is valuable for computer graphics.

Radial integral boundary element method for simulating phase change problem with mushy zone

A radial integral boundary element method(BEM)is used to simulate the phase change problem with a mushy zone in this paper.Three phases,including the solid phase,the liquid phase,and the mushy zone,are considered in the phase change problem.First,according to the continuity conditions of temperature and its gradient on the liquid-mushy interface,the mushy zone and the liquid phase in the simulation can be considered as a whole part,namely,the non-solid phase,and the change of latent heat is approximated by heat source which is dependent on temperature.Then,the precise integration BEM is used to obtain the differential equations in the solid phase zone and the non-solid phase zone,respectively.Moreover,an iterative predictor-corrector precise integration method(PIM)is needed to solve the differential equations and obtain the temperature field and the heat flux on the boundary.According to an energy balance equation and the velocity of the interface between the solid phase and the mushy zone,the front-tracking method is used to track the move of the interface.The interface between the liquid phase and the mushy zone is obtained by interpolation of the temperature field.Finally,four numerical examples are provided to assess the performance of the proposed numerical method.

Research on the Dx Split Method Based on an Algorithm to Draw a Line

The problem is that the real line that shows on the computer monitor is not accurate.So we research the algorithms in which drawing a straight line with the Dx split method.In this paper,it is proved that the lines of display pixel lines are not smooth,and they are composed of many splicings of short straight lines.It plays an important scientific role to elucidate the homogenization mechanism of controlling and regulation that insert point back to a straight line.It lays a foundation of showing a straight line accurately and has a high using value of generating a line.

P-Condense and LP-Condensing Operatorson Semilattices,Join-Complete Lattices and Some Inverse Semigroups

In this paper,the concepts of-condensing operator and 69-condensingoperator on a semigroup are introduced.Then we describe the-condensing operatorsand the 69-condensing operators on semilattices,join-complete lattices,and inversesemigroups.As an application of our results,we also show that the unary operations*:Hg→Hg-1 Hg and*:Hg→HG on the coset semigroupK(G)of a group G are-condensing operators.Consequently,a necessary and sufficient condition for theseoperators to be 69-condensing operators is given.Some further results on condensesemigroups considered by Chen et al.(Acta Math.Hung.119:281-305,2008)arediscussed and obtained in this paper.

M-LFM:a multi-level fusion modeling method for shape−performance integrated digital twin of complex structure

As a virtual representation of a specific physical asset,the digital twin has great potential for realizing the life cycle maintenance management of a dynamic system.Nevertheless,the dynamic stress concentration is generated since the state of the dynamic system changes over time.This generation of dynamic stress concentration has hindered the exploitation of the digital twin to reflect the dynamic behaviors of systems in practical engineering applications.In this context,this paper is interested in achieving real-time performance prediction of dynamic systems by developing a new digital twin framework that includes simulation data,measuring data,multi-level fusion modeling(M-LFM),visualization techniques,and fatigue analysis.To leverage its capacity,the M-LFM method combines the advantages of different surrogate models and integrates simulation and measured data,which can improve the prediction accuracy of dynamic stress concentration.A telescopic boom crane is used as an example to verify the proposed framework for stress prediction and fatigue analysis of the complex dynamic system.The results show that the M-LFM method has better performance in the computational efficiency and calculation accuracy of the stress prediction compared with the polynomial response surface method and the kriging method.In other words,the proposed framework can leverage the advantages of digital twins in a dynamic system:damage monitoring,safety assessment,and other aspects and then promote the development of digital twins in industrial fields.

Impact of the thermal effect on the load-carrying capacity of a slipper pair for an aviation axial-piston pump

A thermal hydraulic model based on the lumped parameter method is presented to analyze the load-carrying capacity of a slipper pair in an aviation axial-piston pump under specified operating conditions. Both theoretical and experimental results are presented to demonstrate the validity of the thermal hydraulic model. The results illustrate that the squeezing force and thermal wedge bearing force are the main factors that affect the film thickness and load-carrying capacity.At high oil temperature and high load pressure, the film thickness decreases with increasing clamping force due to a combined action of the squeezing bearing force and the thermal wedge bearing force, but the load-carrying capacity will increase. An increase of the film thickness is proven to be beneficial under high shaft rotational speed but especially dangerous as it strongly increases the ripple amplitude of the film thickness, which leads to decreasing the load-carrying capacity. The structural parameters of the slipper can be optimized to achieve desired performance, such as the slipper radius ratio and orifice length diameter ratio. To satisfy the requirement of the load-carrying capacity, the slipper radius ratio should be selected from 1.4 to 1.8, and the orifice length diameter ratio should be selected from 4 to 5.