ZFAUV is a novel portable modular AUV. There are four fixed thrusters at tail, and two tunnel thrusters are set at front. The maneuverability of ZFAUV is relatively high. It can turn around in situ, move lateral or move up/down vertical. The yaw and pitch can be controlled by tunnel thrusters or differential control of tail thrusters, but differential control will reduce the forward force. Different from propeller-rudder AUVs, the turning radius is related to speed forward: the smaller the speed forward, the smaller the turning radius. The minimum turning radius tends to be zero. The mathematical model is built first; then CFD is used to predict the thrust and torque of tail thrusters and tunnel thrusters. Through numerical simulation, zigzag maneuver analysis in horizontal plane, and trapezoidal steering maneuver analysis in vertical plane, the maneuverability of ZFAUV is obtained. The maneuverability of ZFAUV becomes worse with the increase of speed. The maneuverability of differential control is better than that of tunnel control. In the case of specific thrust distribution of tail thrusters and tunnel thrusters, ZFAUV can turn around in situ (the maximum angular velocity is about 24.1/s), move lateral or move up/down vertical (the maximum velocity is about 0.4m/s). Finally, an example, PID parameters tuning, is given to illustrate the application of maneuverability analysis. The dynamic performance of ZFAUV can be quickly and accurately analyzed by mathematical method, which has important guiding significance for the choice of control strategy and experiments and also has reference value for the later development of AUVs.
X-force CFD 2017 Portable
We developed a small portable modular AUV with four fixed thrusters at tail, named ZFAUV; it weighs about 20kg. Meanwhile, in order to improve the maneuverability of ZFAUV, two tunnel thrusters are set at front: one is horizontal and the other is vertical, as shown in Figure 1. With the aid of these six thrusters, some actions that ordinary propeller-rudder AUVs cannot achieve, such as turning around in situ, moving lateral, moving up/down vertical, etc., can be achieved.
Abstract:This paper conducts a numerical investigation on the hydrodynamic performance of a portable autonomous underwater vehicle (AUV). The portable AUV is designed to cruise and perform some tasks autonomously in the underwater world. However, its dynamic performance is strongly affected by hydrodynamic effects. Therefore, it is crucial to investigate the hydrodynamic performance of the portable AUV for its accurate dynamic modeling and control. In this work, based on the designed portable AUV, a comprehensive hydrodynamic performance investigation was conducted by adopting the computational fluid dynamics (CFD) method. Firstly, the mechanical structure of the portable AUV was briefly introduced, and the dynamic model of the AUV, including the hydrodynamic term, was established. Then, the unknown hydrodynamic coefficients in the dynamic model were estimated through the towing experiment and the plane-motion-mechanism (PMM) experiment simulation. In addition, considering that the portable AUV was affected by wave forces when cruising near the water surface, the influence of surface waves on the hydrodynamic performance of the AUV under different wave conditions and submerged depths was analyzed. Finally, the effectiveness of our method was verified by experiments on the standard models, and a physical experiment platform was built in this work to facilitate hydrodynamic performance investigations of some portable small-size AUVs.Keywords: autonomous underwater vehicle (AUV); numerical investigation; hydrodynamic performance; computational fluid dynamics (CFD)
Gnuplot is a portable command-line driven graphing utility for Linux, OS/2, MS Windows, OSX, VMS, and many other platforms.The source code is copyrighted but freely distributed (i.e., you don't have to pay for it).It was originally created to allow scientists and studentsto visualize mathematical functions and data interactively, but has grown to support many non-interactive uses such as web scripting.It is also used as a plotting engine by third-party applications like Octave.Gnuplot has been supported and under active development since 1986.
To manually preset radio stations, follow the appropriate steps below below.\nNOTE: Steps on how to manually preset radio stations may vary depending on the portable stereo system model. Check the specifications or supplied operations guide. \r\n\r\nManuals are posted on your model support page.\r\n\r\n\nFor portable stereo system models that have the AUTO PRESET button\nOn the portable stereo system, press and hold the AUTO PRESET button until AUTO flashes on the display.Press the ENTER button to store the station.\nFor portable stereo system models that have the MANUAL PRESET or MEMORY button\nOn the portable stereo system, press the FM or AM button.Press the TUNE+ or TUNE- button to tune the desired radio station.Press the MANUAL PRESET or MEMORY button until FM-xx or AM-xx flashes on the display.Press the PRESET + or - button until preset number you want to use flashes on the display.Press the ENTER button to store the station.\nFor all other models\nOn the portable stereo system, press the FM or AM button.Press the TUNE+ or TUNE- button to tune the desired radio station.Press and hold the desired number button for approximately two seconds until you hear a beep 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