Analysis of motion characteristics of large deep-sea AUV unpowered spiral diving

doi:10.3785/j.issn.1006-754X.2022.00.028

Chin J Eng Design

2022, Vol. 29

Issue (3): 370-383 DOI: 10.3785/j.issn.1006-754X.2022.00.028

Modeling, Simulation, Analysis and Decision

Analysis of motion characteristics of large deep-sea AUV unpowered spiral diving

Wei GAO^1,^2,³(

),Wei ZHANG⁴,Hai-tao GU^1,²(

),Ling-shuai MENG^1,²,Hao GAO^1,²,Zhi-chao ZHAO^1,^2,³

^1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
^2.Institute of Robotics and Intelligent Manufacturing Innovation, Chinese Academy of Sciences, Shenyang 110169, China
^3.University of Chinese Academy of Sciences, Beijing 100049, China
^4.Naval Research Academy of PLA, Beijing 100161, China

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Abstract

In order to reasonably design the large deep-sea autonomous underwater vehicle (AUV), the static configuration problem of its unpowered spiral dive was studied, and the motion characteristics of its unpowered spiral dive were analyzed. Firstly, the dynamic model of large deep-sea AUV was derived based on the Lagrange equation and its direct route test, oblique towing test, cantilever pool test and plane motion mechanism test were numerically simulated by the CFD (computational fluid dynamics) software, and the corresponding hydrodynamic coefficients were fitted by the least square linear regression method; at the same time, the validity of the dynamic model was verified through comparing the route speed of this AUV under the given thrust condition. Then, based on the constructed dynamic model, the six-degree-of-freedom motion simulation model of large deep-sea AUV was established by using the MATLAB/Simulink and S-function, and the relationship between the net negative buoyancy, longitudinal displacement of gravity center, metacentric height and the unpowered spiral diving steady-state parameters was analyzed. Finally, a 1∶10 scaled-down prototype of large deep-sea AUV was designed, and the correctness of dynamic simulation results was verified by the pool test. The results showed that net negative buoyancy was the main power source of large deep-sea AUV, which determined the diving speed and yaw angular speed of the AUV; the greater the net negative buoyancy and the ratio of longitudinal displacement of gravity center to metacentric height, the faster the vertical diving speed of the AUV and the shorter the time to dive to a depth of 6 000 m; due to the large volume of this AUV, its longitudinal inclination angle was mainly determined by the ratio of longitudinal displacement of gravity center to metacentric height, and the influence of ballast mass on the gravity center position and moment of inertia could be almost ignored. The research results can provide a reference for the static configuration of large deep-sea AUV during unpowered spiral diving.

Key words： large deep-sea autonomous underwater vehicle dynamic modeling unpowered spiral diving motion simulation pool test

Received: 19 May 2021 Published: 05 July 2022

CLC:

TP 242.3

Corresponding Authors: Hai-tao GU E-mail: gaowei1@sia.cn;ght@sia.cn

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Cite this article:

Wei GAO,Wei ZHANG,Hai-tao GU,Ling-shuai MENG,Hao GAO,Zhi-chao ZHAO. Analysis of motion characteristics of large deep-sea AUV unpowered spiral diving. Chin J Eng Design, 2022, 29(3): 370-383.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.028 OR https://www.zjujournals.com/gcsjxb/Y2022/V29/I3/370

大型深海AUV无动力螺旋下潜运动特性分析

为了合理地设计大型深海自主水下航行器（autonomous underwater vehicle, AUV），针对其无动力螺旋下潜时的静力配置问题展开研究，重点分析其无动力螺旋下潜运动特性。首先，基于拉格朗日方程推导了大型深海AUV的动力学模型，并利用CFD（computational fluid dynamics，计算流体动力学）软件对其直航试验、斜航试验、悬臂水池试验和平面运动机构试验进行数值模拟，通过最小二乘线性回归法拟合得到了相应的水动力系数；同时通过对比给定推力条件下AUV的直航速度验证了动力学模型的有效性。然后，基于所构建的动力学模型，利用MATLAB/Simulink和S函数建立了大型深海AUV的六自由度运动仿真模型，分析了其净负浮力、重心纵向位移和稳心高度与无动力螺旋下潜稳态参数之间的关系。最后，设计了1∶10的大型深海AUV缩比样机，通过水池试验验证了动力学仿真结果的正确性。结果表明：净负浮力作为大型深海AUV下潜时的主要动力来源，决定了AUV的下潜速度和偏航角速度；净负浮力和重心纵向位移与稳心高度的比值越大，AUV的垂向下潜速度越快，下潜至6 000 m深度的用时越短；由于该AUV的体量较大，其纵倾角主要由重心纵向位移与稳心高度的比值决定，压载质量对重心位置和转动惯量的影响几乎可以忽略。研究结果可为大型深海AUV无动力螺旋下潜时的静力配置提供参考。

关键词： 大型深海自主水下航行器, 动力学建模, 无动力螺旋下潜, 运动仿真, 水池试验

Fig.1 Overall layout of large deep-sea AUV

Fig.2 Construction of coordinate system of large deep-sea AUV

Fig.3 Fluid computational domain and boundary conditions of large deep-sea AUV

Table 1 Grid irrelevance verification results of numerical simulation of large deep-sea AUV

Table 2 Numerical simulation results of large deep-sea AUV resistance under different direct route test conditions

Table 3 Numerical simulation working condition design for oblique towing test of large deep-sea AUV

Fig.4 Numerical simulation results of oblique towing test of large deep-sea AUV (part)

Table 4 Numerical simulation working condition design of cantilever pool test of large deep-sea AUV

Fig.5 Numerical simulation results of cantilever pool test of large deep-sea AUV (part)

Fig.6 Variation law of lateral force of large deep-sea AUV during pure sway motion

Fig.7 Variation law of yaw moment of large deep-sea AUV during pure sway motion

振荡频率/Hz	$Y v ˙$ /kg	$N v ˙$ /kg·m
平均值	-5 838.787 5	-28 035.394 1
0.10	-6 695.222 8	-38 568.912 2
0.15	-5 514.450 4	-26 142.592 2
0.20	-5 306.689 4	-19 394.677 8

Table 5 Fitting results of acceleration dependent hydrodynamic coefficient of large deep-sea AUV under different oscillation frequencies

水动力系数	量值
黏性水动力相关系数	$K D 0 = - 194.004 ? 3 ? k g / m K D = - 4 ? 353.732 ? 4 ? k g / (m ? r a d 2)$
	$K β = - 5 ? 707.978 ? 0 ? k g / m ? r a d$
	$K L 0 = - 9.197 ? 3 ? k g / m K L = - 8 ? 486.898 ? 8 ? k g / m ? r a d$
黏性水动力矩相关系数	$K M Y = - 1 ? 323.630 ? 1 ? k g / r a d K p = - 5 ? 292.450 ? 4 ? k g ? s / r a d$
	$K M 0 = 206.040 ? 2 ? k g K M = - 15 ? 338.366 ? 7 ? k g / r a d K q = - 170 ? 274.832 ? 3 ? k g ? s / r a d 2$
	$K M Z = 11 ? 491.559 ? 6 ? k g / r a d K r = - 114 ? 417.337 ? 7 ? k g ? s / r a d 2$
加速度相关系数	$X u ˙ = - 2 ? 707.241 ? 4 ? k g Y v ˙ = - 5 ? 838.787 ? 5 ? k g Y r ˙ = 30 ? 017.879 ? 7 ? k g ? m / r a d Z w ˙ = - 10 ? 159.604 ? 0 ? k g M w ˙ = 42 ? 912.398 ? 6 ? k g ? m M q ˙ = 444 ? 749.939 ? 5 ? k g ? m 2 / r a d 2 N v ˙ = - 28 ? 035.394 ? 1 ? k g ? m N r ˙ = - 269 ? 033.762 ? 9 ? k g ? m 2 / r a d$
舵角相关系数	$X δ b δ b = - 799.853 ? 6 ? k g / m X δ s δ s = - 461.005 ? 4 ? k g / m X δ r δ r = - 489.803 ? 1 ? k g / m Y δ r = - 1 ? 098.460 ? 8 ? k g ? m / r a d 2 Z δ b = - 2 ? 373.612 ? 2 ? k g / m ? r a d Z δ s = - 1 ? 129.144 ? 6 ? k g / m ? r a d M δ b = 15 ? 443.455 ? 8 ? k g / r a d M δ s = - 8 ? 494.593 ? 7 ? k g / r a d N δ r = 7 ? 819.812 ? 8 ? k g / r a d$

Table 6 Calculation results of hydrodynamic coefficient of large deep-sea AUV

Fig.8 Six-degree-of-freedom motion simulation model of large deep-sea AUV

Fig.9 Comparison of direct route speed of large deep-sea AUV under different thrusts

Fig.10 Unpowered spiral diving trajectory of large deep-sea AUV

Fig.11 Variation law of state parameters of large deep-sea AUV unpowered spiral diving with time

Fig.12 Influence of net negative buoyancy on unpowered spiral diving steady-state parameters of large deep-sea AUV

Fig.13 Influence of longitudinal displacement of gravity center on unpowered spiral diving steady-state parameters of large deep-sea AUV

Fig.14 Influence of metacentric height on unpowered spiral diving steady-state parameters of large deep-sea AUV

Fig.15 Scaled-down prototype of large deep-sea AUV

Fig.16 Electronic sealed cabin of scaled-down prototype of large deep-sea AUV

Fig.17 Pool test site of scaled-down prototype of large deep-sea AUV

Table 7 Pool test conditions of scaled-down prototype of large deep-sea AUV unpowered spiral diving

Fig.18 Unpowered spiral diving process of scaled-down prototype of large deep-sea AUV （W=7.5 N，δ_r=24°）

Fig.19 Variation law of unpowered spiral diving state parameters of large deep-sea AUV scaled-down prototype with time under different net negative buoyancy （δ_r=20°）


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