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基于计算流体动力学模拟的微型自主水下航行器水动力参数识别及其在控制性能评估中的应用

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation.

作者信息

Castillo-Zamora José J, Camarillo-Gómez Karla A, Pérez-Soto Gerardo I, Rodríguez-Reséndiz Juvenal, Morales-Hernández Luis A

机构信息

L2S of Université Paris Sud-CNRS-CentraleSupelec, Université Paris Saclay, 91190 Gif-sur-Yvette, France.

IPSA Paris, 94200 Ivry-sur-Seine, France.

出版信息

Sensors (Basel). 2021 Jan 26;21(3):820. doi: 10.3390/s21030820.

DOI:10.3390/s21030820
PMID:33530425
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7865711/
Abstract

This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky-Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.

摘要

本手稿提出了一种全面详细的方法，以识别微型自主水下航行器（mini-AUV）的流体动力学参数，并使用不同的控制器评估其性能。该方法包括使用ANSYS™ Workbench软件的计算流体动力学（CFD）模块进行接近实际的模拟，对模拟获得的数据使用一组Savistky-Golay滤波器进行处理；以及应用最小二乘法来估计mini-AUV的流体动力学参数。最后，考虑这些参数来设计基于机器人操纵器理论的三种不同控制器。进行了数值模拟以评估控制器的性能。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/70cbbee1155f/sensors-21-00820-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/9fb4476f1b58/sensors-21-00820-g001.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/42953c97ceda/sensors-21-00820-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/a230e0eec4ae/sensors-21-00820-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/70cbbee1155f/sensors-21-00820-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/9fb4476f1b58/sensors-21-00820-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/0059c0a4569e/sensors-21-00820-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/507d05d66d8a/sensors-21-00820-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/a25676c6b77a/sensors-21-00820-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/42953c97ceda/sensors-21-00820-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/a230e0eec4ae/sensors-21-00820-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8a2b/7865711/70cbbee1155f/sensors-21-00820-g008.jpg

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