简介:Toprovideasimulationsystemplatformfordesigninganddebuggingasmallautonomousunderwatervehicle’s(AUV)motioncontroller,asix-degreeoffreedom(6-DOF)dynamicmodelforAUVcontrolledbythrusterandfinswithappendagesisexamined.Basedonthedynamicmodel,asimulationsystemfortheAUV’smotionisestablished.ThedifferentkindsoftypicalmotionsaresimulatedtoanalyzethemotionperformanceandthemaneuverabilityoftheAUV.InordertoevaluatetheinfluencesofappendagesonthemotionperformanceoftheAUV,simulationsoftheAUVwithandwithoutappendagesareperformedandcompared.TheresultsdemonstratetheAUVhasgoodmaneuverabilitywithandwithoutappendages.
简介:Inordertostudycavitationcharacteristicsofa2-Dhydrofoil,themethodthatcombinesnonlinearcavitationmodelandmixed-iterationisusedtopredictandanalyzethecavitationperformanceofhydrofoils.ThecavitationelementsarenonlinearlydisposedbasedontheGreenformulaandperturbationpotentialpanelmethod.Atthesametime,themethodthatcombinescavityshapeforfixedcavitylength(CSCL)iterationandcavityshapeforfixedcavitationnumber(CSCN)iterationisusedtoworkoutthethicknessandlengthofhydrofoilcavitations.Throughanalysisofcalculationresults,itcanbeconcludedthatthejumpofpressureandvelocitypotentiallyexistbetweencavitationendareaandnon-cavitationsareaonsuctionsurfacewhencavitationoccursonhydrofoil.Incertainanglesofattack,thecavitationnumberhasanegativeimpactonthelengthofcavitations.Andunderthesameangleofattackandcavitationnumber,thebiggerthethicknessofthehydrofoil,theshorterthecavitationslength.