Journal of South China University of Technology(Natural Science Edition) ›› 2012, Vol. 40 ›› Issue (4): 150-157.

• Mechanics • Previous Articles     Next Articles

Hydrodynamic Characteristics of Tethered Underwater Robot Under Control Manipulations

Wu Jia-ming1  Cui Yin1,3  Deng Wei1  Wu Li2  Ma Zhi-quan2   

  1. 1．School of Civil Engineering and Transportation,South China University of Technology,Guangzhou 510640,Guangdong,China; 2．Guangzhou Panyu Lingshan Shipyard Ltd. ,Guangzhou 511473,Guangdong,China; 3．Qinghuangdao Entry-Exit Inspection and Quarantine Bureau,Qinghuangdao 266004,Hebei,China
  • Received:2010-12-10 Revised:2012-01-04 Online:2012-04-25 Published:2012-03-01
  • Contact: 吴家鸣(1957-) ，男，教授，博士生导师，主要从事水下工程研究． E-mail:ctjmwu@scut.edu.cn
  • About author:吴家鸣(1957-) ，男，教授，博士生导师，主要从事水下工程研究．
  • Supported by:

    国家自然科学基金资助项目( 10772068) ; 广东省教育部产学研结合项目( 2010B090400501)

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Abstract:

A controller based on an integrated hydrodynamic model of the tethered underwater robot is constructed with the help of FNN ( Fuzzy Neural Network) algorithm and is used to control the trajectory and attitude of the robot in multiple degrees of freedom. Then,in order to remedy the disadvantages of the traditional method of analyzing propeller propulsion,a new method combining the theory of neural network and the computational fluid dynamics technique is proposed for the conversion between the propulsion and the rotating speed. Moreover,an integrated control system,which consists of a FNN controller,a robotic hydrodynamic model and a conversion module of propulsion and rotating speed,is presented for the tethered underwater robot. Finally,the hydrodynamic characteristics of the robot are globally analyzed and calculated by taking into consideration the interaction among different parts of the robot. Numerical simulation results indicate that the proposed system effectively controls the trajectory and attitude of the tethered underwater robot,and that it helps to globally calculate the hydrodynamic response of the underwater robot under corresponding control action.

Key words: tethered underwater robot, hydrodynamic characteristic, fuzzy neural network, trajectory control, attitude control, numerical calculation