پایداری دینامیکی رول ربات خودکار زیرآبی با فرم بدنه شبه ماهی

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکترا / دانشکده مهندسی دریا دانشگاه صنعتی امیر کبیر

2 صنعتی امیرکبیر*مهندسی دریایی

چکیده

ربات خودکار زیرآبی طراحی شده با فرم بدنه نوین شبه‌ماهی برای هدف بازرسی خطوط لوله و کابل زیردریا مورد ارزیابی هیدرودینامیکی قرار گرفته است. افزایش پایداری دینامیکی ربات بازرس زیرآبی علاوه بر افزایش قابلیت حفظ مسیر حرکت ربات، موجب تسهیل در کنترل رفتار دینامیکی آن در محیط پراغتشاش اعماق دریا می‌شود. پس از بیان معادلات حرکت حاکم بر وسیله، گشتاور هیدرودینامیکی وارد بر بدنه از طرف جریان سیال آب با مدل‌سازی عددی در دینامیک سیالات محاسباتی استخراج شده است. ربات به عنوان جسم صلب و جریان اطراف آن به صورت پایا و تراکم‌ناپذیر فرض شده است. با بیان ارتباط خطی بین گشتاور هیدرودینامیکی و سرعت زاویه‌ای جریان، ضریب هیدرودینامیکی خطی بازدارنده یا میرایی مورد نیاز محاسبه شده است. به کمک ضریب هیدرودینامیکی بازدارنده استخراج شده، پایداری دینامیکی ربات حول محور طولی مورد ارزیابی قرار گرفته است. برای اطمینان از صحت نتایج، یافته‌های پژوهش حاضر با داده‌های آزمایشگاهی بدنه متقارن محوری متعلق به دپارتمان هیدرودینامیک کشتی مرکز تحقیقات دیوید تیلور مقایسه شده است؛ یافته‌های عددی تطابق خوبی را با آزمایش نشان می‌دهد. نتایج نشان می‌دهد که پایداری دینامیکی رول برای ربات با فرم بدنه پیشنهادی با مقطع مثلثی در این مقاله 10 برابر بیشتر از ربات‌های با فرم بدنه رایج متقارن محوری با مقطع دایروی است.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Roll Dynamic Stability of an Autonomous Underwater Vehicle with a Fish-like Hull Shape

نویسندگان [English]

  • Amir Honaryar 1
  • Mahmoud Ghiasi 2
1 PhD Student / Department of Maritime Engineering , Amirkabir University of Technology
چکیده [English]

An autonomous underwater vehicle designed and manufactured with fish-like hull shape in order to survey subsea pipeline and cable is analyzed hydrodynamically. Not only does having high hydrodynamic stability increase course keeping ability, but it facilitates dynamic behavior control of robot regarding the disturbances like marine currents in the water. Roll dynamic instability would be an adverse phenomenon for underwater vehicles results in the deviation from the main path. After mentioning governing motion equations of vehicle, hydrodynamic moment acting on the body has been computed numerically using computational fluid dynamics. The robot is assumed to be a rigid body and the flow passing over it is considered steady and incompressible. Having extracted relationship between moment and flow angular velocity, the linear hydrodynamic coefficient needed for stability analysis is estimated. Using this damping coefficient, roll dynamic stability of the robot has been evaluated. To ensure the accuracy of numerical results, computations are compared with axisymmetric body designed and manufactured in Ship Hydrodynamic Department of David Taylor Research Center; Comparisons show firmly good agreement with experiments. Results reveal that roll dynamic stability of proposed hull shape with triangular cross-section is 10 times as great as that of conventional axisymmetric body with circular cross-section.

کلیدواژه‌ها [English]

  • Autonomous underwater vehicle
  • Fish-like hull shape
  • roll dynamic stability
  • computational fluid dynamics
  • hydrodynamic damping coefficient
[1] J.S. Parsons, R.E. Goodson, F.R. Goldschmied, Shaping of axisymmetric bodies for minimum drag in incompressible flow, Journal of Hydronautics, 8(3) (1974) 100-107.
[2] D. Myring, A theoretical study of body drag in subcritical axisymmetric flow, The Aeronautical Quarterly, 27(3) (1976) 186-194.
[3] T. Lutz, S. Wagner, Numerical shape optimization of natural laminar flow bodies, in:  Proceedings of 21st ICAS Congress, 1998.
[4] A. Alvarez, V. Bertram, L. Gualdesi, Hull hydrodynamic optimization of autonomous underwater vehicles operating at snorkeling depth, Ocean Engineering, 36(1) (2009) 105-112.
[5] I. Nesteruk, J.H. Cartwright, Turbulent skin-friction drag on a slender body of revolution and Gray's Paradox, in:  Journal of Physics: Conference Series, IOP Publishing, 2011, pp. 22-42.
[6] I. Nesteruk, G. Passoni, A. Redaelli, Shape of aquatic animals and their swimming efficiency, Journal of Marine Biology, 2014 (2014).
[7] D. Perrault, N. Bose, S. O’Young, C.D. Williams, Sensitivity of AUV added mass coefficients to variations in hull and control plane geometry, Ocean engineering, 30(5) (2003) 645-671.
[8] D. Perrault, N. Bose, S. O’Young, C.D. Williams, Sensitivity of AUV response to variations in hydrodynamic parameters, Ocean Engineering, 30(6) (2003) 779-811.
[9] A. Tyagi, D. Sen, Calculation of transverse hydrodynamic coefficients using computational fluid dynamic approach, Ocean Engineering, 33(5-6) (2006) 798-809.
[10] P. Praveen, P. Krishnankutty, Study on the effect of body length on the hydrodynamic performance of an axi-symmetric underwater vehicle, Indian Journal of Geo-Marine Sciences, 42(8) (2013) 1013-1022.
[11] M. Abkowitz, Stability and motion control of ocean vessels, in, MIT Press, Massachusetts Institute of Technology, 1969.
[12] J. Billingsley, Essentials of Dynamics and Vibrations, Springer, 2017.
[13] K. Ogata, Y. Yang, Modern control engineering, 4 ed., Prentice-Hall, 2002.
[14] A. Phillips, S. Turnock, M. Furlong, The use of computational fluid dynamics to aid cost-effective hydrodynamic design of autonomous underwater vehicles, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 224(4) (2010) 239-254.
[15] G. Vaz, S. Toxopeus, S. Holmes, Calculation of manoeuvring forces on submarines using two viscous-flow solvers, in:  ASME 2010 29th International Conference on Ocean, Offshore and Arctic Engineering, American Society of Mechanical Engineers, 2010, pp. 621-633.
[16] G. h. Zeng, J. Zhu, Study on Key Techniques of Submarine Maneuvering Hydrodynamics Prediction Using Numerical Method, in:  2010 Second International Conference on Computer Modeling and Simulation, IEEE, 2010, pp. 83-87.
[17] Y. c. Pan, H. x. Zhang, Q. d. Zhou, Numerical prediction of submarine hydrodynamic coefficients using CFD simulation, Journal of Hydrodynamics, Ser. B, 24(6) (2012) 840-847.
[18] J. Zhang, J.A. Maxwell, A.G. Gerber, A.G.L. Holloway, G.D. Watt, Simulation of the flow over axisymmetric submarine hulls in steady turning, Ocean engineering, 57 (2013) 180-196.
[19] Z. Leong, D. Ranmuthugala, I. Penesis, H. Nguyen, RANS-based CFD prediction of the hydrodynamic coefficients of DARPA SUBOFF geometry in straight-line and rotating arm manoeuvres, International Journal of Maritime Engineering, 157(A1) (2015) A41-A52.
[20] L.s. Cao, J. Zhu, W.b. Wan, Numerical investigation of submarine hydrodynamics and flow field in steady turn, China ocean engineering, 30(1) (2016) 57-68.
[21] A. Honaryar, Investigation on the effect of body form on autonomous underwater vehicle maneuverability, Amirkabir University of Technology, 2014 (in Persian).
[22] A. Honaryar, M. Ghiasi, S.H. Mousavizadegan, Investigation on the effect of tail form on autonomous underwater vehicle maneuverability, Journal of Marine Engineering, 12(24) (2016) 89-101 (in Persian).
[23] S. Mansoorzadeh, A.R. Pishevar, E. Javanmard, Numerical investigation of dynamic stability of an autonomous underwater vehicle, Journal of Fluid Mechanics and Aerodynamics, 2(1) (2013) 69-81 (in Persian).
[24] E. Goshtasbi Rad, S.M. Eatesami Renani, Experimental investigation of effect of H type tail on aerodynamic coefficients of aircraft model, with and without external fuel tank,, Amirkabir Journal of Mechanical Engineering, 48(3) (2016) 305-314 (in Persian).
[25] A. Honaryar, M. Ghiasi, Design of a bio-inspired hull shape for an AUV from hydrodynamic stability point of view through experiment and numerical analysis, Journal of Bionic Engineering, 15(6) (2018) 950-959.
[26] N.C. Groves, T.T. Huang, M.S. Chang, Geometric characteristics of DARPA (Defense Advanced Research Projects Agency) SUBOFF models (DTRC model numbers 5470 and 5471), DAVID TAYLOR RESEARCH CENTER BETHESDA MD SHIP HYDROMECHANICS DEPT, 1989.
[27] J. Garavello, J. Garavello, Spatial distribution and interaction of four species of the catfish genus Hypostomus Lacépède with bottom of Rio São Francisco, Canindé do São Francisco, Sergipe, Brazil (Pisces, Loricariidae, Hypostominae), Brazilian Journal of Biology, 64(3B) (2004) 103-141.
[28] J.L. Birindelli, A.M. Zanata, F.C. Lima, Hypostomus chrysostiktos, a new species of armored catfish (Siluriformes: Loricariidae) from rio Paraguaçu, Bahia State, Brazil, Neotropical Ichthyology, 5(3) (2007) 271-278.
[29] M. Jesse, Plecostomus Information, in, https://aquaticmag.com/freshwater/plecostomus-information/.
[30] M. Renilson, Submarine hydrodynamics, Springer, 2015.
[32] R.F. Roddy, Investigation of the stability and control characteristics of several configurations of the DARPA SUBOFF model (DTRC Model 5470) from captive-model experiments, David Taylor Research Center Bethesda MD Ship Hydromechanics Dept, 1990.