Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method
The hydrodynamic characteristics of multi-propeller autonomous underwater vehicles (AUV) is usually complicated and it is difficult to obtain an accurate mathematical model. A modeling method based on CFD calculation and maximum likelihood identification algorithm is proposed for this problem. First...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-06-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/8/6/407 |
| _version_ | 1797566159860531200 |
|---|---|
| author | Feiyan Min Guoliang Pan Xuefeng Xu |
| author_facet | Feiyan Min Guoliang Pan Xuefeng Xu |
| author_sort | Feiyan Min |
| collection | DOAJ |
| description | The hydrodynamic characteristics of multi-propeller autonomous underwater vehicles (AUV) is usually complicated and it is difficult to obtain an accurate mathematical model. A modeling method based on CFD calculation and maximum likelihood identification algorithm is proposed for this problem. Firstly, rough hydrodynamic parameters of AUV hull are obtained by CFD calculation. Secondly, on the basis of rough parameters, a maximum likelihood identification algorithm is proposed to adjust the parameters and improve the model precision. Besides, the method to improve the convergence of identification algorithm is analyzed by considering the characteristics of AUV model structure. Finally, the identification algorithm and identification results were validated with experimental data. It was found that this method has good convergence and adaptability. In particular, the identification results of turning force and torque parameters are highly consistent in different identification experiments, which indicates that this method can well extract the maneuvering characteristics of AUVs, thus contributing to the controller design of AUVs. The research of this paper has potential application for the modeling and control of multi-propeller AUVs. |
| first_indexed | 2024-03-10T19:22:47Z |
| format | Article |
| id | doaj.art-5c18ecbccfe949328f6dce04520964f7 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T19:22:47Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-5c18ecbccfe949328f6dce04520964f72023-11-20T02:48:51ZengMDPI AGJournal of Marine Science and Engineering2077-13122020-06-018640710.3390/jmse8060407Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood MethodFeiyan Min0Guoliang Pan1Xuefeng Xu2Department of Electronic Engineering, Jinan University, Guangzhou 510632, ChinaBranch of 707 Institute of China Shipbuilding Industry Corporation (CSIC), Jiujiang 332007, ChinaBranch of 707 Institute of China Shipbuilding Industry Corporation (CSIC), Jiujiang 332007, ChinaThe hydrodynamic characteristics of multi-propeller autonomous underwater vehicles (AUV) is usually complicated and it is difficult to obtain an accurate mathematical model. A modeling method based on CFD calculation and maximum likelihood identification algorithm is proposed for this problem. Firstly, rough hydrodynamic parameters of AUV hull are obtained by CFD calculation. Secondly, on the basis of rough parameters, a maximum likelihood identification algorithm is proposed to adjust the parameters and improve the model precision. Besides, the method to improve the convergence of identification algorithm is analyzed by considering the characteristics of AUV model structure. Finally, the identification algorithm and identification results were validated with experimental data. It was found that this method has good convergence and adaptability. In particular, the identification results of turning force and torque parameters are highly consistent in different identification experiments, which indicates that this method can well extract the maneuvering characteristics of AUVs, thus contributing to the controller design of AUVs. The research of this paper has potential application for the modeling and control of multi-propeller AUVs.https://www.mdpi.com/2077-1312/8/6/407AUVmulti-propellermaximum likelihoodCFD calculationmodeling |
| spellingShingle | Feiyan Min Guoliang Pan Xuefeng Xu Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method Journal of Marine Science and Engineering AUV multi-propeller maximum likelihood CFD calculation modeling |
| title | Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method |
| title_full | Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method |
| title_fullStr | Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method |
| title_full_unstemmed | Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method |
| title_short | Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method |
| title_sort | modeling of autonomous underwater vehicles with multi propellers based on maximum likelihood method |
| topic | AUV multi-propeller maximum likelihood CFD calculation modeling |
| url | https://www.mdpi.com/2077-1312/8/6/407 |
| work_keys_str_mv | AT feiyanmin modelingofautonomousunderwatervehicleswithmultipropellersbasedonmaximumlikelihoodmethod AT guoliangpan modelingofautonomousunderwatervehicleswithmultipropellersbasedonmaximumlikelihoodmethod AT xuefengxu modelingofautonomousunderwatervehicleswithmultipropellersbasedonmaximumlikelihoodmethod |