Nikolay A. Tschur
PhD in Physics and Mathematics, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Mathematician, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia; Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Leading Electronic Engineer, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(812)552-15-08, This email address is being protected from spambots. You need JavaScript enabled to view it.
Sergey A. Polovko
PhD in Technical Sciences, RTC, Research Center, Research Advisor of Center, Leading Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-47-64, This email address is being protected from spambots. You need JavaScript enabled to view it.
Andrey A. Deulin
Federal State Unitary Enterprise RUSSIAN FEDERAL NUCLEAR CENTER All-Russian Re-search Institute of Experimental Physics (FSUE RFNC – VNIIEF), Head of the Research Department, 37, Muzrukov pr., Sarov, Nizhny Novgorod region, 607188, Russia, tel.: +7(908)762-07-78, This email address is being protected from spambots. You need JavaScript enabled to view it.
Received 27 October 2020
Abstract
The purpose of this work is to create the most accurate mathematical model of the underwater vehicle dynamics. In fact, the proposed model should be an alternative to full-scale testing of the device. The paper presents a calculation method that implements coupled calculations of the underwater vehicle dynamics and the hydrodynamics of the fluid, flowing around it. From the point of view of mechanics and hydrodynamics, this approach is the most accurate method for modeling the device dynamics in the presence of arbitrary control actions. The main advantage of the proposed calculation method is the conservative approximation scheme for hydrodynamic calculations, which is extremely important when performing non-stationary calculations. In addition, the proposed method requires less computational resources than other currently used coupled calculations methods. The proposed method was verified on a large data volume received from real autonomous underwater vehicles (AUV) field tests and showed high accuracy in reproducing full-scale data. The developed calculation method was used for the designing AUV control system and showed its high efficiency.
Key words
Autonomous underwater vehicle, AUV, computational fluid dynamics, CFD, transient response, coupled calculation, deforming mesh, fluid-body interaction.
Acknowledgements
The results were obtained within the framework of the state assignment of the Ministry of Higher Education and Science of Russian Federation no.075-01195-20-00 «Development of control theory and methods for analyzing the motion of hyper-redundant mobile robots of variable configuration in a fluid medium and interaction with rigid objects».
DOI
https://doi.org/10.31776/RTCJ.8405
Bibliographic description
Tschur, N., Polovko, S. and Deulin, A., 2020. Application of the computational fluid dynamics methods to obtain the characteristics of AUV transient responses. Robotics and Technical Cybernetics, 8(4), pp.287-295.
UDC identifier:
629.58:532.5
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