A velocity prediction program for an autonomous sailing drone
2
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
In recent, there has been considerable improvement in ocean awareness owing to the use of autonomous vehicles, which have played an important role in helping engineers, researchers, and scientists in observing the environment and gathering oceano-graphic data. Therefore, it is useful to predict the speed of these vehicles. Velocity prediction programs (VPPs) are broadly used as tools to predict sailing yachts’ speeds but existing VPPs are unable to implement the new sail design concepts. Therefore, this study aimed to build a VPP for a particular sailing drone model that unitizes the curvy twin sail design. We theoretically derived relations describing a sailing drone’s motion as that of a rigid body having three degrees of freedom (three DOFs). We were interested in the proposed VPP’s dynamic behavior, the effect of sail designs, and the precise prediction of actual attainable speeds. The algorithm and process for predicting the sailing drone speed were established. The sailing drone VPP model was validated via comparison with previous experimental results, and the model achieved an acceptable level. It was also able to help designers evaluate their sail and hull configurations. In addition, we evaluated the utilization of a sailing drone hull and curvy twin sail. The hydrodynamic results indicated that the speed of the designed sailing drone should be limited to 2.2 m/s. Although the maximum lift coefficient of the curvy twin sail was recorded at an angle of attack (AOA) of 25 °, the optimized AOA for the curvy twin sail was found to be 15 °. The curvy twin sail could improve the sailing drone’s speed under downwind conditions at true wind angles above 40 °. In contrast, it did not work effec-tively compared to wing sails under upwind conditions at true wind angles between 20 ° and 40 °.
Abstract
In recent, there has been considerable improvement in ocean awareness owing to the use of autonomous vehicles, which have played an important role in helping engineers, researchers, and scientists in observing the environment and gathering oceano-graphic data. Therefore, it is useful to predict the speed of these vehicles. Velocity prediction programs (VPPs) are broadly used as tools to predict sailing yachts’ speeds but existing VPPs are unable to implement the new sail design concepts. Therefore, this study aimed to build a VPP for a particular sailing drone model that unitizes the curvy twin sail design. We theoretically derived relations describing a sailing drone’s motion as that of a rigid body having three degrees of freedom (three DOFs). We were interested in the proposed VPP’s dynamic behavior, the effect of sail designs, and the precise prediction of actual attainable speeds. The algorithm and process for predicting the sailing drone speed were established. The sailing drone VPP model was validated via comparison with previous experimental results, and the model achieved an acceptable level. It was also able to help designers evaluate their sail and hull configurations. In addition, we evaluated the utilization of a sailing drone hull and curvy twin sail. The hydrodynamic results indicated that the speed of the designed sailing drone should be limited to 2.2 m/s. Although the maximum lift coefficient of the curvy twin sail was recorded at an angle of attack (AOA) of 25 °, the optimized AOA for the curvy twin sail was found to be 15 °. The curvy twin sail could improve the sailing drone’s speed under downwind conditions at true wind angles above 40 °. In contrast, it did not work effec-tively compared to wing sails under upwind conditions at true wind angles between 20 ° and 40 °.
참고문헌 (28)
- "WinDesign"[URL]
- "AHVPP"[URL]
- Formation Design System Pty Ltd, "Learning Maxsurf Manual, 1984 – 2009", ~
- L. Larsson, "Principles of Yacht Design" (2014), McGraw Hill
- P. F. Rynne, "A wind and so-lar-powered autonomous surface vehicle for sea surface measurements", Oceans 2008, pp.1~6 (2008)
- Y. Briere, "IBOAT : An autonomous robot for long-term offshore operation", MELECON 2008-The 14th IEEE Mediterranean Electrotechnical Conference, pp.323~329 (2008)
- L. Giger, "Design and construction of the autonomous sailing vessel avalon", Proceedings of the 2nd Interna-tional Robotic Sailing Conference, pp.17~22 (2009)
- P. Miller, "Development of the USNA SailBots(ASV)", International Robotic Sail-ing Conference, pp.1~8 (2009)
- P. Miller, "Increasing Performance and Added Capa-bilities of USNA Sail-Powered Autonomous Surface Vessels(ASV)", International Robotic Sailing Confer-ence, 1(6), pp.1~6 (2010)
- P. H. Miller, "Development of a Sail-Powered Autonomous Surface Vessel(ASV)for Trans-Atlantic Voyaging", 4th International Robotics Sailing Conference (2011)
- G. H. Elkaim, "The atlantis project : A GPS-guided wing-sailed autonomous catamaran", Journal of the In-stitute of Navigation, 53(4), pp.237~247 (2006)
- Minh-Ngoc Pham, "Shape and Spacing Effects on Curvy Twin Sail for Autonomous Sailing Drone", 해양환경안전학회지, 26(7), pp.931~941 (2020), 해양환경안전학회[DOI]
- R. Onnink, "The Delft Systematic Yacht Hull (Series II) Experiments", 10th Chesapeake Sailing Yacht Symposium (1991)
- "ORC VPP Documentation 2020"[URL]
- G. E. Hassan, "Numerical investigation of medium range Reynold number aerody-namics characteristics for NACA0018 airfoil", CFD let-ter, pp.175~187 (2014)
- N. Hutchins, "The Use of Ansys CFX in America’s Cup Yacht Design", proceedings of the 3rd High Per-formance Yacht Design Conference, pp.185~192 (2008)
- J. H. Milgram, "The aerodynamics of sails", the pro-ceedings of the 7th Symposium of Naval Hydrodynamic, pp.1397~1434 (1968)
- A. E. Gentry, "The application of computational fluid dynamics to sails", proceedings of the Symposium on Hydrodynamic Performance Enhancement for Marine Applications (1988)
- J. B. Fallow, "America’s cup sail design", Journal of Wind Engineering and Industrial Aerodynamics, 63(1-3), pp.183~192 (1996)
- A. R. Claughton, "Wind tunnel testing of sailing rigs", the proceedings of the Interna-tional HISWA Symposium on Yacht Design and Yacht Construction, pp.89~106 (1994)
- K. L. Hedges, "Computer modelling of downwind sails", Journal of Wind Engineering and Industrial Aerodynamics, 63(1-3), pp.16~ (1993)
- K. L. Hedges, "Com-puter modeling of downwind sails", Journal of Wind En-gineering and Industrial Aerodynamics, 63(1-3), pp.95~110 (1996)
- Airfoil section character-istics as affected by variations of the Reynolds number, "E. N. Jacob", NACA, 227~267, pp.NACA Technical Report 586 (1937)
- Aerodynamic Charac-teristics of Seven Symmetrical Airfoil Sections through 180-Degree Angle of Attack for Use in Aerodynamic Analysis of VerticalAxis Wind Turbines, "R. E. Shedahl", Sandia National Laboratories, ~, pp.Technical Re-port No. SAND-80-2114 (1981)
- W. A. Timmer, "Two-dimensional low-Reynolds num-ber wind tunnel results for airfoil NACA0018", Wind Engineering, 32(6), pp.525~537 (2008)
- E. J. de Ridder, "A mathematical model for the tacking maneuver of a sail-ing yacht", The International HISWA Symposium on Yacht Design and Yacht Construction, pp.1~34 (2004)
- J. A. Kenning, "Approximation of the hydrodynamic forces on a sailing yacht based on the ‘Delft Systematic Yacht Hull Series, ’", Proceedings of the 15th Interna-tional HISWA Symposium on Yacht Design and Yacht Construction (1998)
- F. Bergsma, "Effect of Rig Tension on Sailing Yacht Per-formance", Master, pp.2012