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首页> 外文会议>OCEANS 2016 MTS/IEEE Monterey >Dynamical modeling of a micro AUV in hydrodynamic ground effect
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Dynamical modeling of a micro AUV in hydrodynamic ground effect

机译：水动力接地效应中微AUV的动态建模

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The need for inspection of subsea infrastructures - ranging from ship hulls to pipelines - have led to development of various underwater vehicles specifically geared towards such missions. One such example is the EVIE (Ellipsoidal Vehicle for Inspection and Exploration) robot developed by the d'Arbeloff Laboratory at MIT - which is a water jet propelled ellipsoidal micro AUV with a flat bottom designed for scanning and moving on submerged surfaces. Near proximity to surfaces is important for using sensors like ultrasound for imaging internal cracks that cannot be done by simple visual inspection. However movement on submerged surfaces without wheels or tether is challenging since they are often rough due to rust or corrosion. The d'Arbeloff Laboratory has previously presented an extensive research on utilizing natural ground effect hydrodynamics during longitudinal motion of the AUV to maintain a self stabilizing equilibrium height very close to the surface. Further, it was also demonstrated that using an active bottom jet we can form a stable fluid bed of thickness from 1/200 to 1/50 of the body length and enable smooth gliding of the robot on rough surface. Previous work presented has focussed on the observations, simulations of the phenomenon using computational fluid dynamic (CFD), analysis of the different regions of the ground effect force and some preliminary experimental results. In the research presented in this paper, we go one more step further and provide a deeper insight to the modeling of motion near a submerged surface and its dependency on design parameters. This is of particular relevance since understanding the system dynamics and response characteristics will enable us to design a control system which can deal with the unusual near surface behavior of this underwater vehicle and help transition the design for more practical applications.
机译：对海底基础设施进行检查的需求 - 从船体到管道的范围 - 导致开发专门针对此类任务的各种水下车辆。一个这样的例子是D'Arceloff实验室在MIT开发的EVIE（椭圆轮用于检查和勘探）机器人 - 这是一种热喷射椭圆微型AUV，具有用于扫描和在浸没表面上移动的平底。近距离邻近表面对于使用超声波的传感器对于成像内部裂缝来实现，这是简单的目视检查无法完成的。然而，在没有轮子或系绳的浸没表面上的运动是具有挑战性的，因为它们由于生锈或腐蚀而常粗糙。 D'Arceloff实验室先前已经在AUV的纵向运动期间利用天然地面效果流体动力学进行了广泛的研究，以保持非常靠近表面的自稳定平衡高度。此外，还证明，使用活性底部射流，我们可以从体长的1/200至1/50的1/200至1/50形成厚度的稳定流体床，并使机器人的平滑滑动在粗糙的表面上。上一项工作介绍了使用计算流体动力学（CFD）的观察，模拟现象，分析了地面效果力的不同区域和一些初步实验结果。在本文提出的研究中，我们进一步走了一步，并对淹没表面附近的运动建模及其对设计参数的依赖性提供了更深的了解。这是特别的相关性，因为了解系统动态和响应特性，使我们能够设计一种控制系统，可以处理这种水下车辆的不寻常的近表面行为，并帮助改进设计以获得更实际的应用。

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