Added Mass Computation for Control of an Open-Frame Remotely-Operated Vehicle: Application Using WAMIT and MATLAB

You-Hong Eng ； Michael-WaiShing Lau ； Cheng-Siong Chin

《Journal of Marine Science and Technology》 預刊文章 Pp. 1-12

https://doi.org/10.6119/JMST-013-0313-2

並列摘要

In this paper, numerical modeling and testing of a complex-shaped remotely-operated vehicle (ROV) are shown. The paper emphasizes on systematic modeling of hydrodynamic added mass using computational fluid dynamic software WAMIT^(TM) on the open frame ROV that is not commonly applied in practice. From initial design and prototype testing, a small-scale test using a free-decaying experiment is used to verify the theoretical models obtained from WAMIT^(TM). Simulation results have shown to coincide with the some of the experimental tests. The proposed method is therefore able to determine most of the hydrodynamic added mass coefficients of the open frame ROV.

並列關鍵字

modeling ； simulation ； remotely-operated vehicle ； added mass ； WAMIT^(TM) ； MATLAB^(TM)

參考文獻

Jalving, B., “The NDRE-AUV flight controls system,” IEEE Journal of Oceanic Engineering. Vol. 19, No. 1, pp. 497-501 (1994).

Healey, A. J., and Lienard D., “Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles,” IEEE Journal of Oceanic Engineering, Vol. 18, No. 3, pp. 327- 339 (1993).

Antonelli, G., Chiaverini, S., Sarkar, N., and West, M., “Adaptive control of an autonomous underwater vehicle: experimental results on ODIN,” IEEE Transactions on Control Systems Technology, Vol. 9, No. 5, pp. 756-765 (2001).

Fjellstad, O. E., and Fossen, T. I., “Position and Attitude Tracking of AUVs: A Quaternion Feedback Approach,” IEEE Journal of Oceanic Engineering, Vol.19, No. 4, pp. 512-518 (1994).

Fossen, T. I., Guidance and Control of Ocean Vehicles, John Wiley & Sons Ltd (1994).