Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots

Sensors

Roque Saltaren¹  Oz Yakrangi¹  JuanS. Cely¹  Gerardo Portilla¹  Alejandro Rodriguez-Barroso¹ 

[1] Centro de Automática y Robótica, Universidad Politécnica de Madrid, C/José Gutiérrez Abascal 2, 28006 Madrid, Spain;

关键词: system identification;    systems modelling;    hydrodynamics coefficients;    unmanned underwater vehicles;   

DOI  :  10.3390/s19173631

来源: DOAJ

【 摘 要 】

Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD). One method for obtaining the hydrodynamic coefficients of an ROV (Remote Operated Vehicle) is by using an experimental PMM (Planar Motion Mechanism) or CWC (Circular Water Channel); however, the use of these experimental infrastructures is costly. Therefore, it is of interest to obtain these coefficients in other ways, for example, by the use of simple experiments. The Free Decay Test is an ideal type of experiment, as it has a low cost and is simple to implement. In this paper, two different free decay tests were carried out, to which three different methods for obtaining coefficients were applied. They were compared with results obtained by CFD simulation to conduct a statistical analysis in order to determine their behaviours. It was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot).

【 授权许可】

Unknown