Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
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Study on the fluid resistance coefficient for control simulation of an underwater vehicle

수중로봇 제어 시뮬레이션을 위한 유체저항계수 연구

  • Park, Sang-Wook (Graduate School of Mechanical Design Engineering, Pukyong National University) ;
  • Kim, Min-Soo (Graduate School of Mechanical Design Engineering, Pukyong National University) ;
  • Sohn, Jeong-Hyun (Department of Mechanical Design Engineering, Pukyong National University) ;
  • Baek, Woon-Kyung (Department of Mechanical Design Engineering, Pukyong National University)
  • 박상욱 (부경대학교 대학원 기계설계공학과) ;
  • 김민수 (부경대학교 대학원 기계설계공학과) ;
  • 손정현 (부경대학교 기계설계공학과) ;
  • 백운경 (부경대학교 기계설계공학과)
  • Received : 2015.07.13
  • Accepted : 2015.12.23
  • Published : 2016.02.28
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Abstract

Remotely operated vehicles or autonomous underwater vehicles have been used for exploiting seabed natural resources. In this study, the autonomous underwater vehicle of hovering type(HAUV) is developed to observe underwater objects in close distance. A dynamic model with six degrees of freedom is established, capturing the motion characteristics of the HAUV. The equations of motion are generated for the dynamic control simulation of the HAUV. The added mass, drag and lift forces are included in the computer model. Computational fluid dynamics simulation is carried out using this computer model. The drag coefficients are produced from the CFD.

Keywords

References

  1. T. Prestero, 2001, "Verification of six-degree of freedom simulation model for the REMUS autonomous underwater vehicle", M. S. thesis, MIT/WHOI.
  2. Lauren Alise Cooney, 2009, "Dynamic Response and Maneuvering Strategies of a Hybrid Autonomous Underwater Vehicle in Hovering", M. S. thesis, MIT.
  3. T. I. Fossen, 2011, "Handbook of Marine Craft Hydrodynamics and Motion Control", Jone Wiley & Sons, New York.
  4. T. I. Fossen, 1994, "Guidance and control of ocean vehicle", Jone Wiley & Sons, New York.
  5. Frederick H. Imlay, 1961, "The complete expressions for 'Added mass' of a rigid body moving in an ideal fluid", Hydromechanics laboratory research and development report.
  6. Sighard F. Hoerner, 1965, "Fluid Dynamic Drag" Hoerner Fluid Dynamics, Bakersfield, CA, 2nd edition.
  7. Sighard F. Hoerner, 1985. "Fluid Dynamic Lift" Hoerner Fluid Dynamics, Bakersfield, CA, 2nd edition.

Cited by

  1. 산업현장 침전물 청소작업용 수중청소로봇 제어 알고리즘 기술 개발 vol.21, pp.4, 2016, https://doi.org/10.9726/kspse.2017.21.4.026