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A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller
Wu LH(吴利红)1,2,3; Li YP(李一平)2; Liu KZ(刘开周)2; Wang SW(王诗文)1; Ai, Xiaofeng1; Li S(李硕)2; Feng XS(封锡盛)2
Department水下机器人研究室
Corresponding AuthorWu, Lihong(wlh@sia.cn)
Source PublicationOcean Engineering
ISSN0029-8018
2019
Volume187Pages:1-12
Indexed BySCI ; EI
EI Accession number20192907204930
WOS IDWOS:000487564700024
Contribution Rank1
Funding OrganizationChinese Scholarship Council (CSC), the Natural Science Foundation of China (with Grant No. 51009016) ; Fundamental Research Funds for the Central Universities (with Grant No. 3132017030) ; State Key Laboratory of Robotics for their financial support (with Grant No. 2016-O04),
KeywordAUV underwater docking Self-propulsion Discretized propeller Dynamic mesh Physics-based simulation
AbstractA physics-based simulation for AUV docking with a stationary dock was performed with the multi-block hybrid dynamic grids method (MHDG) and a discretized propeller. URANS equations were coupled to 6DOF equations via UDF to predict the instantaneous velocity and position. The MHDG method uses a multi-block mesh topology, moving mesh, and dynamic-layer method to grid the domain, move the rigid body and its sub domain, and re-mesh the skewed mesh respectively, which can improve computation accuracy and speed. The numerical methods were validated by a comparison with open water curves and the velocity history in AUV free running between simulation and tests. Two docking modes were validated: constant RPM docking and brake docking. In constant RPM docking, the AUV velocity increased gradually, by approximately 11.5% in 6.0 s. The dock had less effect on AUV resistance except that the resistance increased and then declined as the AUV passed through the neck point of the dock. The tip vortex pairs extended and damped downstream of the rotating propeller. In brake docking, the propeller acted as a resistance part and led to a decrement of 46.2% in the velocity in nearly 9 s. The viscous pressure resistance occurred after the braking propeller.
Language英语
WOS SubjectEngineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
WOS KeywordSURFACE COMBATANT ; COMPUTATIONS
WOS Research AreaEngineering ; Oceanography
Funding ProjectChinese Scholarship Council (CSC) ; Natural Science Foundation of China[51009016] ; Fundamental Research Funds for the Central Universities[3132017030] ; State Key Laboratory of Robotics[2016-004]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25319
Collection水下机器人研究室
Corresponding AuthorWu LH(吴利红)
Affiliation1.Ship building and Ocean Engineering College, Dalian Maritime University, No.1 Linghai Road, Dalian, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No.114 Nanta Road, Shenyang, China
3.School of Civil & Resource Engineering, the University of Western Australia, 35 Stirling Highway, Crawley, WA 6009, Australia
Recommended Citation
GB/T 7714
Wu LH,Li YP,Liu KZ,et al. A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller[J]. Ocean Engineering,2019,187:1-12.
APA Wu LH.,Li YP.,Liu KZ.,Wang SW.,Ai, Xiaofeng.,...&Feng XS.(2019).A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller.Ocean Engineering,187,1-12.
MLA Wu LH,et al."A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller".Ocean Engineering 187(2019):1-12.
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