Hydrodynamic analysis and manipulation control on a streamlined I-AUV.

ABSTRACT

Hydrodynamics analysis and control are very significant for the seabed operations, particularly for the intelligent manipulation process of streamlined intervention autonomous underwater vehicles (I-AUVs). The computation fluid dynamics simulations and verification were conducted in the consideration with water channel domain, mesh insensitivity, support straight bar connector, free surface and other boundary conditions. The variation trend of hydrodynamic coefficients in the process of manipulation is obtained, by simulations of streamlined I-AUV manipulation under dynamic manipulation state. To further realize underwater floating manipulation, a novel controller with an integral termed nonlinear sliding mode surface and disturbance observer has been developed. The disturbance observer can make quantity analysis on the interaction forces between I-AUV and the environment from hydrodynamic analysis. Simulations and experiments have verified the controller performance.