DYNAMICS SIMULATION OF AUTONOMOUS UNMANNED UNDERWATER VEHICLE IN SIMPLE MOTION
Keywords:unmanned underwater vehicle, autonomous unmanned underwater vehicle, computer simulation, numerical research, computational fluid dynamics (CFD)
Background. The creation of unmanned underwater vehicles (UUVs) is one of the highest priority areas of marine robotics. Calculations and research based on methods of numerical analysis and simulation are used at different stages of UUV development. To simplify research, it is rational to use sequential numerical computer modelling using specialized programs (CAD), as well as hydrodynamic simulation (CAE).
Objective. The purpose of the paper is to perform modelling of the torpedo-shaped design of autonomous unmanned underwater vehicles (AUUVs) of the class of mini-apparatus weighing from 20 kg to 100 kg and analyse the influence of the design features of the AUUVs on the hydrodynamic characteristics in simple uniform rectilinear motion.
Methods. Modelling of the design and appearance of four AUUVs (which differ in geometry and the presence of additional structural elements) was performed in the software environment “Solidworks”. The developed AUUVs models were imported into the software package “ANSYS Workbench”, in which the simulation of simple rectilinear uniform motion of AUUVs in the sea environment was performed.
Results. For the developed four models, diagrams of the velocity distribution, pressure and kinetic energy of turbulence with simple rectilinear uniform motion of AUUVs in the sea environment were obtained.
Conclusions. The influence of geometric shape and additional design elements on the hydrodynamic characteristics of AUUV with simple rectilinear motion is determined. Comparative analysis of the results makes it possible to identify a design model of AUUV, which should be used for further research, in particular to develop an automatic control system for manoeuvrable multi-purpose AUUV. It is shown that due to the integration of CAD and CAE software the time of research, development and design of the apparatus is significantly reduced.
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