A three-dimensional hydrodynamics and control model to simulate a tethered underwater robot system is proposed. The fluid motion around the robot main body with control ducted propellers is governed by the Navier–Stokes equations, and multiple sliding mesh technique is applied for the numerical solution of the equations. The governing equation of umbilical cable is based on the Ablow and Schechter method. The six degrees-of-freedom equations of motion for underwater vehicle simulations are adopted to estimate the hydrodynamic performance of the underwater robot. In the model, a hybrid feed-forward and feedback control technique is applied to adjust the length of the umbilical cable, and the incremental proportional-integral-derivative (PID) control algorithm is adopted to regulate the rotating speeds of the ducted propellers. The numerical results indicate that the multiple control techniques applied in this paper are feasible and effective, and adjusting the length of the umbilical cable is largely responsible for the vertical trajectory control to the robot, while regulating the rotating speeds of the propellers plays a leading role in the horizontal trajectory manipulation, the deviation between the designated trajectory and the controlled one is acceptable.

References

References
1.
Nielsen
,
M. C.
,
Eidsvik
,
O. A.
,
Blanke
,
M.
, and
Ingrid
,
S.
,
2018
, “
Constrained Multi-Body Dynamics for Modular Underwater Robots—Theory and Experiments
,”
Ocean Eng.
,
149
, pp.
358
372
.
2.
Zanoli
,
S. M.
, and
Conte
,
G.
,
2003
, “
Remotely Operated Vehicle Depth Control
,”
Control Eng. Pract.
,
11
(
4
), pp.
453
459
.
3.
Akcakaya
,
H.
, and
Sumer
,
L. G.
,
2014
, “
Robust Control of Variable Speed Autonomous Underwater Vehicle
,”
Adv. Rob.
,
28
(
9
), pp.
601
611
.
4.
Yang
,
R.
,
Clement
,
B.
,
Mansour
,
A.
,
Li
,
M.
, and
Wu
,
N. L.
,
2015
, “
Modeling of a Complex-Shaped Underwater Vehicle for Robust Control Scheme
,”
J. Intell.&Rob. Syst.
,
80
(
3–4
), pp.
491
506
.
5.
Leena
,
N.
, and
Saju
,
K. K.
,
2016
, “
Modelling and Trajectory Tracking of Wheeled Mobile Robots
,”
Procedia Technol.
,
24
, pp.
538
545
.
6.
Ismail
,
Z. H.
, and
Dunnigan
,
M. W.
,
2011
, “
Tracking Control Scheme for an Underwater Vehicle-Manipulator System With Single and Multiple Sub-Regions and Sub-Task Objectives
,”
Control Theory App.
,
5
(
5
), pp.
721
735
.
7.
Wu
,
J. M.
, and
Xiong
,
X. H.
,
2006
, “
Hydrodynamic and Control Analysis of a Self-Stable Controllable Underwater Towed Vehicle
,”
ASME
Paper No. OMAE2006-92108.
8.
Fernandez
,
D. C.
, and
Hollinger
,
G. A.
,
2017
, “
Model Predictive Control for Underwater Robots in Ocean Waves
,”
IEEE Rob. Autom. Lett.
,
2
(
1
), pp.
88
95
.
9.
Driscoll
,
F. R.
,
Lueck
,
R. G.
, and
Nahon
,
M.
,
2000
, “
Development and Validation of a Lumpedmass Dynamics Model of a Deep-Sea ROV System
,”
Appl. Ocean Res.
,
22
(
3
), pp.
169
182
.
10.
Driscoll
,
F. R.
,
Lueck
,
R. G.
, and
Nahon
,
M.
,
2000
, “
The Motion of a Deep-Sea Remotely Operated Vehicle System—Part 1: Motion Observations
,”
Ocean Eng.
,
27
(
1
), pp.
29
56
.
11.
Driscoll
,
F. R.
,
Lueck
,
R. G.
, and
Nahon
,
M.
,
2000
, “
The Motion of a Deep-Sea Remotely Operated Vehicle System—Part 2: Analytical Model
,”
Ocean Eng.
,
27
(
1
), pp.
57
76
.
12.
Ming
,
C. F.
,
Chang
,
S. H.
, and
Luo
,
J. H.
,
2007
, “
On the Motion of the Underwater Remotely Operated Vehicle With the Umbilical Cable Effect
,”
Ocean Eng.
,
34
(
8–9
), pp.
1275
1289
.https://www.sciencedirect.com/science/article/pii/S0029801806001880
13.
Wu
,
J. M.
,
Xu
,
Y.
,
Tao
,
L. B.
,
Yu
,
M.
, and
Dou
,
Y. Z.
,
2018
, “
An Integrated Hydrodynamics and Control Model of a Tethered Underwater Robot
,”
China Ocean Eng.
,
32
(
5
), pp.
557
569
.
14.
Wu
,
J. M.
, and
Chwang
,
A. T.
,
2000
, “
A Hydrodynamic Model of a Two-Part Underwater Towed System
,”
Ocean Eng.
,
27
(
5
), pp.
455
472
.
15.
Gertler
,
M.
, and
Hagen
,
G. L.
,
1967
, “
Standard Equations of Motion for Submarine Simulation
,” David Taylor Research Center, Washington, DC, Report No. DTMB 2510.
16.
Wu
,
J. M.
,
Zhang
,
C. W.
,
Ye
,
Z. J.
,
Xu
,
Y.
,
Feng
,
W. W.
, and
Liang
,
H. Q.
,
2015
, “
Numerical Simulation on Hydrodynamic Behaviors of Ducted Propeller in Yawing Motion of an Underwater Vehicle
,”
ASME
Paper No. OMAE2015-41760.
17.
Wu
,
J. M.
,
Ye
,
J. W.
,
Cheng
,
Y.
,
Chen
,
Y. M.
,
Tian
,
H. P.
, and
Xiong
,
X. H.
,
2005
, “
Experimental Study on a Controllable Underwater Towed System
,”
Ocean Eng.
,
32
(
14–15
), pp.
1803
1817
.
You do not currently have access to this content.