Hydrodynamic Modeling with Grey-Box Method of A Foil-Like Underwater Vehicle |
| |
| Authors: | LIU Xin-yu LI Yi-ping WANG Ya-xing and FENG Xi-sheng |
| |
| Institution: | State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China and State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China |
| |
| Abstract: | In this study, a dynamic modeling method for foil-like underwater vehicles is introduced and experimentally verified in different sea tests of the Hadal ARV. The dumping force of a foil-like underwater vehicle is sensitive to swing motion. Some foil-like underwater vehicles swing periodically when performing a free-fall dive task in experiments. Models using conventional modeling methods yield solutions with asymptotic stability, which cannot simulate the self-sustained swing motion. By improving the ridge regression optimization algorithm, a grey-box modeling method based on 378 viscous drag coefficients using the Taylor series expansion is proposed in this study. The method is optimized for over-fitting and convergence problems caused by large parameter matrices. Instead of the PMM test data, the unsteady computational fluid dynamics calculation results are used in modeling. The obtained model can better simulate the swing motion of the underwater vehicle. Simulation and experimental results show a good consistency in free-fall tests during sea trials, as well as a prediction of the dive speed in the swing state. |
| |
| Keywords: | unmanned underwater vehicle grey-box model hydrodynamics ridge regression correlations |
|
| 点击此处可从《海洋工程》浏览原始摘要信息 |
| 点击此处可从《海洋工程》下载免费的PDF全文 |
|
