Dynamics modeling of a semi-submersible autonomous underwater vehicle with a towfish towed by a cable
1
조회
0
다운로드
6
인용
0
참고문헌
키워드
초록
In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.
Abstract
In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.
참고문헌 (22)
- Berzeri, M., "Development of simple models for the elastic forces in the absolute nodal coordinate formulation", Journal of Sound and Vibration, 235(4), pp.539~565 (2000)
- Buckham, B., "Dynamics and control of a towed underwater vehicle system, part I : model development", Ocean Engineering, 30(4), pp.453~470 (2003)
- Choc, Y. I., "Hydrodynamic resistance of towed cables", Journal of Hydronautics, 5(4), pp.126~131 (1971)
- Curado, T. F., "Nonlinear adaptive control of an underwater towed vehicle", Ocean Engineering, 37(13), pp.1193~1220 (2010)
- Gerstmayr, J., "Analysis of thin beams and cables using the absolute nodal co-ordinate formulation", Nonlinear Dynamics, 45(1-2), pp.109~130 (2006)
- Gerstmayr, J., "Review on the absolute nodal coordinate formulation for large deformation analysis of multi-body systems", Journal of Computational and Nonlinear Dynamics, 8(3), pp.031016~ (2013)
- Grosenbaugh, M. A., "Transient behavior of towed cable systems during ship turning maneuvers", Ocean engineering, 34(11), pp.1532~1542 (2007)
- Huang, S., "Dynamic analysis of three-dimensional marine cables", Ocean Engineering, 21(6), pp.587~605 (1994)
- Jun, B. H., "Development of the AUV ‘ISiMI’ and a free running test in an Ocean Engineering Basin", Ocean engineering, 36(1), pp.2~14 (2009)
- Modeling towed cable system dynamics, "Kamman, J. W.", Naval Coastal Systems Center, ~, pp.No. NCSC-TM-492-88 (1990)
- Kamman, J. W., "Multi-body dynamics modeling of variable length cable systems", Multi-body System Dynamics, 5(3), pp.211~221 (2001)
- Kun-Woo Kim, "The motion and deformation rate of a flexible hose connected to a mother ship", Journal of Mechanical Science and Technology, 26(3), pp.703~710 (2012), 대한기계학회
- Park, H. I., "A numerical and experimental study on dynamics of a towed low tension cable", Applied Ocean Research, 25(5), pp.289~299 (2003)
- Shabana, A. A., "Three-dimensional absolute nodal coordinate formulation for beam elements : theory", Journal of Mechanical Design, 123(4), pp.606~613 (2001)
- Shabana, A. A., "Application of the absolute nodal coordinate formulation to large rotation and large deformation problems", Journal of Mechanical Design, 120(2), pp.188~195 (1998)
- Seo, D. C., "A study on the underwater glider design based on stability analysis and motion behavior", 박사, pp.2009
- Takehara, S., "Motion of a submerged tether subject to large deformations and displacements", Journal of System Design and Dynamics, 5(2), pp.296~305 (2011)
- Vaz, M. A., "Transient behaviour of towed marine cables in two dimensions", Applied Ocean Research, 17(3), pp.143~153 (1995)
- Wu, J., "Investigation on a two-part underwater manoeuvrable towed system", Ocean Engineering, 28(8), pp.1079~1096 (2001)
- Yakoub, R. Y., "Use of Cholesky coordinates and the absolute nodal coordinate formulation in the computer simulation of flexible multi-body systems", Nonlinear Dynamics, 20(3), pp.267~282 (1999)
- Yakoub, R. Y., "Three dimensional absolute nodal coordinate formulation for beam elements : implementation and applications", Journal of Mechanical Design, 123(4), pp.614~621 (2001)
- Yuan, Z., "Finite difference method for solving the nonlinear dynamic equation of underwater towed system", International Journal of Computational Methods, 11(4), pp.1350060~ (2013)