Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom
AUV docking devices have the ability to achieve homing of the AUV, supply the AUV with energy, and exchange data with it, thus improving the endurance and ensuring the continuous long-term and large-scale operation of the AUV. To improve the successful docking rate of the AUV, a funnel-shaped underw...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/11/1790 |
| _version_ | 1797464915653427200 |
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| author | Xiaofei Du Chaoyong Zong Bo Zhang Maolin Shi |
| author_facet | Xiaofei Du Chaoyong Zong Bo Zhang Maolin Shi |
| author_sort | Xiaofei Du |
| collection | DOAJ |
| description | AUV docking devices have the ability to achieve homing of the AUV, supply the AUV with energy, and exchange data with it, thus improving the endurance and ensuring the continuous long-term and large-scale operation of the AUV. To improve the successful docking rate of the AUV, a funnel-shaped underwater docking device with multi-degree freedom based on a deep-sea platform was designed in this paper. The heading angle, pitch angle, and roller angle of the docking device could be adjusted in a timely manner according to the current flow direction and the position of the AUV. In order to realize the timely adjustment of the heading angle, pitch angle, and roll angle of the docking device, a set of underwater hydraulic systems was developed as the power source to drive the corresponding hydraulic cylinders, hydraulic motors, and other executive components. The model of the heading angle adjustment circuit of the hydraulic system was established and the open-loop transfer function of the heading angle adjustment circuit was derived. The dynamic response performance of the hydraulic circuit was simulated and the optimized PID algorithm was used to improve the dynamic response performance. Finally, the accuracy of the heading angle adjustment circuit model and the effectiveness of the control algorithm were validated by experiment of the docking device in a water pool. |
| first_indexed | 2024-03-09T18:14:00Z |
| format | Article |
| id | doaj.art-9eb527c01c4c4d9187b34cd5b55d779e |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T18:14:00Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-9eb527c01c4c4d9187b34cd5b55d779e2023-11-24T08:53:00ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-11-011011179010.3390/jmse10111790Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree FreedomXiaofei Du0Chaoyong Zong1Bo Zhang2Maolin Shi3School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, ChinaSchool of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaSchool of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, ChinaAUV docking devices have the ability to achieve homing of the AUV, supply the AUV with energy, and exchange data with it, thus improving the endurance and ensuring the continuous long-term and large-scale operation of the AUV. To improve the successful docking rate of the AUV, a funnel-shaped underwater docking device with multi-degree freedom based on a deep-sea platform was designed in this paper. The heading angle, pitch angle, and roller angle of the docking device could be adjusted in a timely manner according to the current flow direction and the position of the AUV. In order to realize the timely adjustment of the heading angle, pitch angle, and roll angle of the docking device, a set of underwater hydraulic systems was developed as the power source to drive the corresponding hydraulic cylinders, hydraulic motors, and other executive components. The model of the heading angle adjustment circuit of the hydraulic system was established and the open-loop transfer function of the heading angle adjustment circuit was derived. The dynamic response performance of the hydraulic circuit was simulated and the optimized PID algorithm was used to improve the dynamic response performance. Finally, the accuracy of the heading angle adjustment circuit model and the effectiveness of the control algorithm were validated by experiment of the docking device in a water pool.https://www.mdpi.com/2077-1312/10/11/1790AUV docking devicehydraulic drive systemmodelling and simulationPID control algorithmexperimental validation |
| spellingShingle | Xiaofei Du Chaoyong Zong Bo Zhang Maolin Shi Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom Journal of Marine Science and Engineering AUV docking device hydraulic drive system modelling and simulation PID control algorithm experimental validation |
| title | Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom |
| title_full | Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom |
| title_fullStr | Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom |
| title_full_unstemmed | Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom |
| title_short | Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom |
| title_sort | design simulation and experimental study on the hydraulic drive system of an auv docking device with multi degree freedom |
| topic | AUV docking device hydraulic drive system modelling and simulation PID control algorithm experimental validation |
| url | https://www.mdpi.com/2077-1312/10/11/1790 |
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