Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins
The autonomous underwater helicopter, shortly referred to as AUH, is a newly developed underwater platform with a unique disc shape. An autonomous underwater helicopter with a suboptimal disc shape is presented in this paper. It adopts a multirotor configuration and stable fins to overcome the shape...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/10/1/67 |
| _version_ | 1797492900501651456 |
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| author | Peizhou Du S. H. Huang Wencheng Yang Yingqiang Wang Zhikun Wang Ruoyu Hu Ying Chen |
| author_facet | Peizhou Du S. H. Huang Wencheng Yang Yingqiang Wang Zhikun Wang Ruoyu Hu Ying Chen |
| author_sort | Peizhou Du |
| collection | DOAJ |
| description | The autonomous underwater helicopter, shortly referred to as AUH, is a newly developed underwater platform with a unique disc shape. An autonomous underwater helicopter with a suboptimal disc shape is presented in this paper. It adopts a multirotor configuration and stable fins to overcome the shape shortcoming for motion stabilization. Its motion analysis and mathematical model have been introduced accordingly. Computational Fluid Dynamics (CFD) simulation is carried out to evaluate fins’ hydrodynamic performance. Proportional integral derivative (PID) and sliding mode fuzzy (SMF) control are adopted for controller design. Finally, the controller is applied on this AUH and extensively tested in various simulations and experiments, and the results illustrate the high stabilization and robustness of the controller and the hovering stability and manoeuvrability of AUH. |
| first_indexed | 2024-03-10T01:12:14Z |
| format | Article |
| id | doaj.art-6fec213b69264522b4bda4b432f777aa |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T01:12:14Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-6fec213b69264522b4bda4b432f777aa2023-11-23T14:16:28ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-01-011016710.3390/jmse10010067Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable FinsPeizhou Du0S. H. Huang1Wencheng Yang2Yingqiang Wang3Zhikun Wang4Ruoyu Hu5Ying Chen6Ocean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaThe autonomous underwater helicopter, shortly referred to as AUH, is a newly developed underwater platform with a unique disc shape. An autonomous underwater helicopter with a suboptimal disc shape is presented in this paper. It adopts a multirotor configuration and stable fins to overcome the shape shortcoming for motion stabilization. Its motion analysis and mathematical model have been introduced accordingly. Computational Fluid Dynamics (CFD) simulation is carried out to evaluate fins’ hydrodynamic performance. Proportional integral derivative (PID) and sliding mode fuzzy (SMF) control are adopted for controller design. Finally, the controller is applied on this AUH and extensively tested in various simulations and experiments, and the results illustrate the high stabilization and robustness of the controller and the hovering stability and manoeuvrability of AUH.https://www.mdpi.com/2077-1312/10/1/67autonomous underwater helicoptercomputational fluid dynamicssliding mode fuzzy (SMF) controlmanoeuvrabilityhovering stability |
| spellingShingle | Peizhou Du S. H. Huang Wencheng Yang Yingqiang Wang Zhikun Wang Ruoyu Hu Ying Chen Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins Journal of Marine Science and Engineering autonomous underwater helicopter computational fluid dynamics sliding mode fuzzy (SMF) control manoeuvrability hovering stability |
| title | Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins |
| title_full | Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins |
| title_fullStr | Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins |
| title_full_unstemmed | Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins |
| title_short | Design of a Disc-Shaped Autonomous Underwater Helicopter with Stable Fins |
| title_sort | design of a disc shaped autonomous underwater helicopter with stable fins |
| topic | autonomous underwater helicopter computational fluid dynamics sliding mode fuzzy (SMF) control manoeuvrability hovering stability |
| url | https://www.mdpi.com/2077-1312/10/1/67 |
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