Numerical simulation and hydrodynamics analysis of a tethered underwater robot with control equipment

The study investigates the tethered underwater robot's maneuverability and hydrodynamic performance in a uniform flow field. A tethered underwater robot that installs a symmetrically Ka 4–70/19A ducted propellers and vertical rudder is first constructed to simulate the motion. The numerical sim...

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Bibliographic Details
Published in:Journal of marine science and technology 2022-03, Vol.27 (1), p.368-382
Main Authors: Xu, Shunyuan, Wu, Jiaming, Lv, Haiyan, Ma, ChengHua, Yang, Xianyuan, Wang, Haotian, Dou, Yizhe
Format: Article
Language:English
Subjects:
Analysis
Automotive Engineering
Computational fluid dynamics
Computer applications
Control equipment
Engineering
Engineering Design
Engineering Fluid Dynamics
Finite element method
Finite volume method
Fluid dynamics
Hydrodynamics
Maneuverability
Manoeuvrability
Mathematical models
Mechanical Engineering
Numerical analysis
Numerical methods
Offshore Engineering
Original Article
Propellers
Robot control
Robots
Rudders
Shrouded propellers
Simulation
Towing
Underwater
Underwater robots
Uniform flow
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Summary:The study investigates the tethered underwater robot's maneuverability and hydrodynamic performance in a uniform flow field. A tethered underwater robot that installs a symmetrically Ka 4–70/19A ducted propellers and vertical rudder is first constructed to simulate the motion. The numerical simulation is based on the multiples computational fluid dynamics (CFD) techniques, such as overlapping grid, sliding mesh, and finite volume method that solves the N–S equations. The six-degrees-of-freedom model and relative motion principle are also adopted to investigate the hydrodynamic performance of the tethered underwater robot at different towing speeds. The reliability of the numerical method is verified by the experimental result. The numerical results indicate that the control effect of control equipment is greatly influenced by the towing speeds, and the mutual effect between the tethered underwater robot and control equipment is not negligible.
ISSN:0948-4280
1437-8213
DOI:10.1007/s00773-021-00839-5