Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance...

Area of Science:

• Robotics
• Fluid Dynamics
• Control Systems

Background:

• Autonomous underwater vehicles (AUVs) require accurate hydrodynamic models for effective control.
• Mini-AUVs present unique challenges in hydrodynamic modeling due to their size and operational dynamics.
• Existing control strategies may not fully leverage precise hydrodynamic parameter identification.

Purpose of the Study:

• To present a comprehensive methodology for identifying the hydrodynamic parameters of a mini-AUV.
• To evaluate the performance of different controllers designed using the estimated hydrodynamic parameters.
• To validate the proposed methodology through numerical simulations.

Main Methods:

• Utilizing Computational Fluid Dynamics (CFD) simulations in ANSYS™ Workbench for data generation.
• Applying Savistky-Golay filters for efficient data processing and noise reduction.
• Employing the Least Square Method for accurate estimation of hydrodynamic parameters.
• Designing controllers based on robot manipulator theory.

Main Results:

• Successfully estimated key hydrodynamic parameters for the mini-AUV.
• Developed and simulated three distinct controllers based on identified parameters.
• Demonstrated the effectiveness of the proposed methodology in controller design and performance evaluation.

Conclusions:

• The presented methodology provides a robust framework for hydrodynamic parameter identification in mini-AUVs.
• The estimated parameters are crucial for designing high-performance controllers.
• The study validates the application of robot manipulator theory for AUV control.