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Research Papers: Ocean Engineering

Trajectory Following of a Tethered Underwater Robot With Multiple Control Techniques

[+] Author and Article Information
Jiaming Wu

Department of Naval Architecture &
Ocean Engineering,
South China University of Technology,
No. 381 Wushan Road,
Tianhe,
Guangzhou 510640, China
e-mail: ctjmwu@scut.edu.cn

Dongjun Chen

Department of Naval Architecture &
Ocean Engineering,
South China University of Technology,
No. 381 Wushan Road,
Tianhe,
Guangzhou 510640, China
e-mail: 81408872@qq.com

1Corresponding author.

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received July 31, 2018; final manuscript received January 5, 2019; published online February 18, 2019. Assoc. Editor: R. M. Chandima Ratnayake.

J. Offshore Mech. Arct. Eng 141(5), 051104 (Feb 18, 2019) (9 pages) Paper No: OMAE-18-1114; doi: 10.1115/1.4042533 History: Received July 31, 2018; Revised January 05, 2019

A three-dimensional hydrodynamics and control model to simulate a tethered underwater robot system is proposed. The fluid motion around the robot main body with control ducted propellers is governed by the Navier–Stokes equations, and multiple sliding mesh technique is applied for the numerical solution of the equations. The governing equation of umbilical cable is based on the Ablow and Schechter method. The six degrees-of-freedom equations of motion for underwater vehicle simulations are adopted to estimate the hydrodynamic performance of the underwater robot. In the model, a hybrid feed-forward and feedback control technique is applied to adjust the length of the umbilical cable, and the incremental proportional-integral-derivative (PID) control algorithm is adopted to regulate the rotating speeds of the ducted propellers. The numerical results indicate that the multiple control techniques applied in this paper are feasible and effective, and adjusting the length of the umbilical cable is largely responsible for the vertical trajectory control to the robot, while regulating the rotating speeds of the propellers plays a leading role in the horizontal trajectory manipulation, the deviation between the designated trajectory and the controlled one is acceptable.

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References

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Figures

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Fig. 1

Underwater robot system

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Fig. 2

Underwater robot (1—propeller 1, 2—propeller 2, and 3—propeller 3)

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Fig. 3

Flowchart of numerical simulation

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Fig. 4

Pitch of the towed vehicle

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Fig. 5

Roll of the towed vehicle

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Fig. 6

Submerged depth of the towed vehicle

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Fig. 7

Running orbits of prescribed trajectory and simulated one

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Fig. 8

Vertical error between prescribed trajectory and simulated one

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Fig. 9

Rotational speeds of ducted propellers

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Fig. 10

Thrusts issued from ducted propellers

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Fig. 11

Horizontal and vertical velocity components of the robot

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Fig. 12

Length change of umbilical cable

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