Frontiers in Deep-Sea Equipment and Technology II

A special issue of Journal of Marine Science and Engineering (ISSN 2077-1312). This special issue belongs to the section "Ocean Engineering".

Deadline for manuscript submissions: closed (30 September 2023) | Viewed by 18732

Special Issue Editors


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Guest Editor
Deep Sea Technology Research Lab, School of Engineering, Westlake University, Hangzhou 310024, China
Interests: multidisciplinary design optimization and its application; deep-sea equipment development; manned/unmanned submersibles; lander/buoy development; manipulator/propeller/ high-pressure seawater pump/underwater camera and other important components development; metal/organic glass/solid buoyancy material damage mechanism; strength and fatigue life prediction of structures
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Guest Editor
School of Oceanography, Shanghai Jiao Tong University, Shanghai 200240, China
Interests: remotely operated vehicles; intelligent glider; autonomous underwater vehicle (AUV); unmanned surface vehicles; path planning
Special Issues, Collections and Topics in MDPI journals

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Guest Editor
Institute of Ocean Engineering and Technology, Ocean College, Zhejiang University, Zhoushan 316021, China
Interests: ocean renewable energy utilization; hydrodynamics, hydraulic transmission and automatic control; condition monitoring and fault diagnosis
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The conflict between population, resources and environment in the twenty-first century made the ocean a strategic space and resource treasure of human society to realize sustainable development. In order to study the ocean environment and exploit the ocean resources, a fundamental understanding of complex and interwoven ocean processes across a broad range of spatial and temporal observational scales is required. This relies heavily on various research fleets and equipment to support increasingly complex, multidisciplinary, multi-investigator research projects, including those in support of autonomous technologies, ocean observing systems, process studies, remote sensing, and modeling. Various underwater submersibles are the main working force for the research fleet. In this Special Issue, relevant experts are invited to report the latest progress on Frontiers in Deep-Sea Equipment and Technology.

In this Special Issue, relevant experts are invited to report the latest progress in the field. This includes autonomous technologies, ocean observation systems, process studies, remote sensing, and modeling.
This is the continuation of a previous Special Issue We particularly welcome papers on the design, analysis, and testing of various new methods, theories, sensors and equipment used in deep areas.

Prof. Dr. Weicheng Cui
Prof. Dr. Lian Lian
Dr. Dahai Zhang
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Journal of Marine Science and Engineering is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • deep-sea equipment
  • submersible
  • glider
  • autonomous underwater vehicle (AUV)
  • remotely operated vehicles (ROVs)
  • human-occupied vehicles (HOVs)
  • autonomous and remotely operated vehicles (ARVs)
  • robotic fish
  • fish schooling
  • underwater charging
  • ocean renewable energy

Published Papers (13 papers)

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Editorial

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6 pages, 156 KiB  
Editorial
Frontiers in Deep-Sea Equipment and Technology II
by Weicheng Cui, Lian Lian and Dahai Zhang
J. Mar. Sci. Eng. 2024, 12(4), 635; https://doi.org/10.3390/jmse12040635 - 09 Apr 2024
Viewed by 219
Abstract
The vast oceans could play a pivotal role in resolving the conflicts between population, resources, and the environment in the twenty-first century [...] Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)

Research

Jump to: Editorial

23 pages, 7686 KiB  
Article
Mechanical Behavior and Sealing Performance Study of Subsea Connector Core-Sealing Components under the Combined Action of Internal Pressure, Bending Moment, and Axial Load
by Xiaoquan Hao, Feihong Yun, Kefeng Jiao, Xi Chen, Peng Jia, Xiangyu Wang and Liquan Wang
J. Mar. Sci. Eng. 2023, 11(9), 1691; https://doi.org/10.3390/jmse11091691 - 27 Aug 2023
Viewed by 973
Abstract
A complete subsea production system (SPS) is assembled by interconnecting subsea manufacturing facilities through subsea connectors. To ensure the reliability and longevity of the SPS, it is imperative to thoroughly investigate the mechanical behavior and sealing performance of the subsea connector’s core-sealing components. [...] Read more.
A complete subsea production system (SPS) is assembled by interconnecting subsea manufacturing facilities through subsea connectors. To ensure the reliability and longevity of the SPS, it is imperative to thoroughly investigate the mechanical behavior and sealing performance of the subsea connector’s core-sealing components. In this study, the loading conditions of the subsea clamp connector are examined to analyze the load transfer relationship between its components under different modes. A mathematical model for the load transfer between locking torque and sealing contact pressure is developed for the preloading mode, and the concept of mechanical transfer efficiency is introduced. Another mathematical model for the load transfer between the locking torque and the design pressure is developed for the operation mode. Furthermore, a three-dimensional full-size finite element model of the subsea clamp connector is established to analyze the effects of complex loads on the mechanical behavior and sealing performance of its core-sealing components. The simulation results indicate that internal pressure loading positively affects the sealing of the subsea connector, and that the stress distribution in the core-sealing components under bending moment loading exhibits significant asymmetric characteristics. Additionally, the superposition of axial tensile loads reduces the effect of the bending moment on the strength of the core seal member but further weakens the seal. Finally, an experimental system is designed to validate the simulation results. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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24 pages, 10903 KiB  
Article
Semi-Analytical Methods for the Joint Strength and Sealing Performance in the Failure Process of the Subsea Pipeline Compression Connector
by Zhenyu Li, Gang Wang, Xiangyu Wang, Shaoming Yao, Feihong Yun, Peng Jia and Liquan Wang
J. Mar. Sci. Eng. 2023, 11(7), 1417; https://doi.org/10.3390/jmse11071417 - 14 Jul 2023
Cited by 1 | Viewed by 764
Abstract
Radial seals are sensitive to axial overload failure and may cause leaks. This paper presents two semi-analytical methods for the joint strength and sealing performance of the subsea pipeline compression connector under axial overload failure. The method for the joint strength consists of [...] Read more.
Radial seals are sensitive to axial overload failure and may cause leaks. This paper presents two semi-analytical methods for the joint strength and sealing performance of the subsea pipeline compression connector under axial overload failure. The method for the joint strength consists of two parts: One is the analytical model for the joint strength of the connection and seal under axial tension and compression conditions. The models are based on membrane theory, considering the hardening and bending effects. The other is a two-dimensional, axisymmetric finite element model for the joint strength of the radial metal seal. The semi-analytical method for the overload sealing performance is derived using a finite element model and the Reynolds equation of the laminar flow. The effects of critical parameters on the joint strength and the overload sealing performance are analyzed. The experiments are carried out with specimens and prototypes to evaluate the evolution of the sealing interface and the joint strength. The results show that both the internally turned sealing surface and the deflection of the pipe can improve the joint strength. In addition, the compression-type connector can remain sealed under the maximum axial overload. The proposed methods allow the prediction and identification of the overload joint strength and the sealing condition of the compression-type connector and provide a better understanding of the radial metal seal under the axial overload condition. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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15 pages, 5205 KiB  
Article
Analysis of the Reliability of Subsea Clamp Connector Based on Multiple Response Surface Methodology
by Weizheng An, Yi Wang, Baijiang Chen, Menglan Duan and Xiyang Zhang
J. Mar. Sci. Eng. 2023, 11(7), 1378; https://doi.org/10.3390/jmse11071378 - 06 Jul 2023
Viewed by 959
Abstract
The subsea clamp connector is susceptible to sealing and locking failures over its lifetime in harsh marine environments and complex loading conditions, posing a serious challenge to the safe development of subsea oil and gas fields. Accurately predicting the reliability of the subsea [...] Read more.
The subsea clamp connector is susceptible to sealing and locking failures over its lifetime in harsh marine environments and complex loading conditions, posing a serious challenge to the safe development of subsea oil and gas fields. Accurately predicting the reliability of the subsea clamp connector under realistic and complex operating conditions is therefore an important guarantee of its safe operation. Considering the main structural characteristic parameters of the subsea clamp connector, this paper conducts a reliability analysis using finite element numerical simulation combined with multiple response surface methodology (MRSM), based on the seal failure and yield failure criteria. The applicability has been verified through the application of subsea clamp connector in the Bohai Sea. The results show that the failure probability of the system is mainly affected by the radius of the seal, the contact angle of the upper and lower flanges and internal pressure. Considering the influence of various factors, the reliability of the connector was calculated to be 98.73%, and the reliability was verified by the sealing performance test. This paper provides a practical method for the reliability analysis of the subsea clamp connector structure under the comprehensive consideration of multiple factors, and provides a new technology to ensure the safe operation of subsea oil and gas fields. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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17 pages, 5110 KiB  
Article
Application of Multi-Cylinder Synchronous Control for Telescopic Mechanism of Marine Steel Pile Cleaning Equipment
by Chao Li, Nan Pang, Kai Xu, Qingling Geng, Xiangyu Wang, Feihong Yun and Lei Gao
J. Mar. Sci. Eng. 2023, 11(5), 1010; https://doi.org/10.3390/jmse11051010 - 08 May 2023
Viewed by 1337
Abstract
In order to clean up marine fouling attached to marine steel pile, this paper proposed an innovative configuration scheme of the marine steel pile cleaning equipment by the scraping method and its telescopic mechanism by applying a multi-cylinder synchronous control strategy to the [...] Read more.
In order to clean up marine fouling attached to marine steel pile, this paper proposed an innovative configuration scheme of the marine steel pile cleaning equipment by the scraping method and its telescopic mechanism by applying a multi-cylinder synchronous control strategy to the cleaning equipment, and produced a test prototype of the cleaning equipment that could solve the problem of cleaning equipment eccentricity and tilt in the field of ocean engineering. Based on the MATLAB Simulink module, a simulation model of the operation process of the telescopic mechanism of the marine steel pile cleaning equipment was established to complete the evaluation of the multi-cylinder synchronous control performance under multiple working conditions. Through the test, the synchronous working performance of the telescopic mechanism of the cleaning equipment under the no-load condition was preliminarily verified. The test results showed that under the no-load condition, the relative errors between the three cylinders and the target displacement were 0.8%, 0.4%, and 0.2%, respectively, and the cleaning equipment could reach the specified working position at the given working speed. The displacement synchronization error between each cylinder was 0.7 mm, 0.7 mm, and 0.6 mm, respectively, and the displacement synchronization error was controlled within 1 mm. The telescopic mechanism had good synchronization, which can ensure the stability and prevent the eccentricity and tilt during the cleaning equipment operation as well as provide a valuable reference for the manufacturing of cleaning equipment. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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23 pages, 9934 KiB  
Article
A Semi-Analytical Method for the Sealing Performance Prediction of Subsea Pipeline Compression Connector
by Zhenyu Li, Gang Wang, Shaoming Yao, Feihong Yun, Peng Jia, Chao Li and Liquan Wang
J. Mar. Sci. Eng. 2023, 11(4), 854; https://doi.org/10.3390/jmse11040854 - 18 Apr 2023
Cited by 2 | Viewed by 1128
Abstract
To predict the sealing performance of the subsea pipeline compression connector, a semi-analytical method is proposed and verified. The leakage condition is obtained as a function of the minimum radial deflection. The semi-analytical method consists of three parts: a macroscopic analytical model for [...] Read more.
To predict the sealing performance of the subsea pipeline compression connector, a semi-analytical method is proposed and verified. The leakage condition is obtained as a function of the minimum radial deflection. The semi-analytical method consists of three parts: a macroscopic analytical model for the interference process deduced based on the membrane theory, a mesoscopic two-dimensional finite element analysis of the internally turned sealing surface according to scanning electron microscope observation, and a formulation of the leakage ratio according to the Abbott–Firestone curve. The influences of the geometry parameters are analyzed. The prediction and identification of the leakage condition near the minimum preloaded deflection are investigated. Experimental tests are also carried out to verify the proposed method. The results show that, within five times the pipeline threshold of the thin wall thickness, compression connectors designed by the proposed method can create a reliable seal with a rough internally turned surface, saving 57% of the design time while reducing the machining time and costs. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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18 pages, 12649 KiB  
Article
Enhancing Power Transmission Stability of AUV’s Wireless Power Transfer System with Compact Planar Magnetic Coupler
by Haibing Wen, Jiayuan Li, Kehan Zhang, Jinying Ye, Zhengchao Yan, Baowei Song and Xiangqian Tong
J. Mar. Sci. Eng. 2023, 11(3), 566; https://doi.org/10.3390/jmse11030566 - 06 Mar 2023
Cited by 2 | Viewed by 1344
Abstract
In this paper, a wireless power transfer (WPT) system with a compact planar magnetic coupler for an autonomous underwater vehicle (AUV) is proposed. A passive induction (PI) coil is integrated into the circular transmitter (Tx) coil to build a uniform magnetic field (UMF), [...] Read more.
In this paper, a wireless power transfer (WPT) system with a compact planar magnetic coupler for an autonomous underwater vehicle (AUV) is proposed. A passive induction (PI) coil is integrated into the circular transmitter (Tx) coil to build a uniform magnetic field (UMF), which can guarantee the stable output of the WPT system under uncertain radial and axial misalignments for AUV. Based on normalized magnetic induction intensity distribution analysis, a UMF constructing method with a PI coil is given, aiming to eliminate the fluctuation of magnetic field intensity, and the PI coil design principles and flow chart are obtained. The theoretical analysis shows the proposed integrated coil can effectively enhance the radial misalignment tolerance compared with a conventional circular spiral coil. The zero-phase angle (ZPA) input condition can be achieved by adjusting the series capacitor connected with the Tx coil in S-S compensation topology. Experimental results show that the proposed magnetic coupler containing an integrated coil significantly improves the stability of output power and power transfer efficiency within the possible radial and axial misalignments compared with a conventional coupler. It was demonstrated that the output power changes less than 5.5% and the power transfer efficiency maintains at approximately 84.5% in arbitrary radial positions within the possible working region with an axial transfer distance of 50 mm in saltwater. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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20 pages, 7120 KiB  
Article
Numerical Study on the Water Entry of a Freely Falling Unmanned Aerial-Underwater Vehicle
by Liyang Dong, Zhaoyu Wei, Hangyu Zhou, Baoheng Yao and Lian Lian
J. Mar. Sci. Eng. 2023, 11(3), 552; https://doi.org/10.3390/jmse11030552 - 04 Mar 2023
Cited by 2 | Viewed by 1482
Abstract
The unmanned aerial–underwater vehicle (UAUV) is a new type of vehicle that can fly in the air and cruise in water and is expected to cross the free water surface several times to perform continuous uninterrupted observation and sampling. To analyze the hydrodynamic [...] Read more.
The unmanned aerial–underwater vehicle (UAUV) is a new type of vehicle that can fly in the air and cruise in water and is expected to cross the free water surface several times to perform continuous uninterrupted observation and sampling. To analyze the hydrodynamic and motion characteristics of the vehicle, the whole water-entry process of a multi-degree-of-freedom UAUV with various velocity and pitch angle was investigated through a Reynolds-averaged Navier–Stokes method. The computational domain was meshed by trimmer cells. The relative movement between the vehicle and fluid domain was simulated using moving reference frame overset mesh to delineate the interaction region around vehicle body. To reduce the computational cost, adaptive mesh refinement and adaptive time-stepping strategy were used to capture the slamming pressure accurately with reasonable computational effort. First, convergence study is considered. Simulations of the vehicle with various initial velocities and different pitch angles were performed. The variable physical properties were analyzed, and detailed results through the time-varying force and velocity were shown. Initial velocity and pitch angle are found to significantly influence hydrodynamic behavior, including the time-varying force, while thickness ratio has a great impact on added mass and pressure. The results show that higher entry velocity results in greater peak vertical force. The transverse hydrodynamic characteristics for oblique water entry of the vehicle with varies pith angle are quite different. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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18 pages, 15903 KiB  
Article
Analysis of the Descent Process and Multi-Objective Optimization Design of a Benthic Lander
by Qiao Zhang, Chunming Dong, Zongze Shao and Donghui Zhou
J. Mar. Sci. Eng. 2023, 11(1), 224; https://doi.org/10.3390/jmse11010224 - 15 Jan 2023
Viewed by 1290
Abstract
The growing need for deep-sea biological research and environmental monitoring has expanded the demand for benthic landers. Compared with remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), benthic landers can reduce overall operation cost and also possess longer endurance. Configuring a suitable [...] Read more.
The growing need for deep-sea biological research and environmental monitoring has expanded the demand for benthic landers. Compared with remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), benthic landers can reduce overall operation cost and also possess longer endurance. Configuring a suitable descent velocity is important for benthic lander designs, helping them avoid retrieval failure and improve sea trial efficiencies. In this study, an effective scheme for the configuration and optimization of a self-developed benthic lander was outlined. First, the structural characteristics of the benthic lander were analyzed, and then a dynamic model was established. Second, the hydrodynamic coefficients of the benthic lander during its descent process were calculated using computational fluid dynamics (CFD) methods. Third, the MATLAB Simulink simulation environment was used to solve the dynamic model, and then the multi-objective optimization algorithm was introduced for the optimization design. Finally, the model was validated based on sea trial data, which demonstrated that the designed configuration and optimization scheme were correct and efficient. Collectively, this work provides a useful reference for the rational configuration and practical application of benthic landers. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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20 pages, 11038 KiB  
Article
An Underwater Wet-Mateable Electrical Connector with Dual-Bladder Pressure-Balanced Oil-Filled (PBOF) Technology
by Wentao Song, Cuibo Yang, Weicheng Cui, Changhui Song, Ping Yang, Jin Hong, Yi Lei, Qimeng Liu and Zhenhua Wang
J. Mar. Sci. Eng. 2023, 11(1), 156; https://doi.org/10.3390/jmse11010156 - 09 Jan 2023
Cited by 1 | Viewed by 2325
Abstract
Underwater wet-mateable connectors have been widely used to reduce the cost and the time of installation, maintenance and reconfiguration in many fields, such as the oil and gas (O&G) industry, offshore renewable energy (ORE), and undersea observatories. In the past few years, the [...] Read more.
Underwater wet-mateable connectors have been widely used to reduce the cost and the time of installation, maintenance and reconfiguration in many fields, such as the oil and gas (O&G) industry, offshore renewable energy (ORE), and undersea observatories. In the past few years, the authors’ group has made some efforts in developing wet-mateable connectors. This paper presents a methodology for designing and testing a wet-mateable electrical connector. First, an innovative wet-mateable electrical connector with dual-bladder pressure-balanced oil-filled (PBOF) technology is proposed. Second, the generalized equations of differential pressure are derived. Then, a procedure of thermal-electric-structure (TES) coupling simulation is proposed, and a series of finite element analysis (FEA) involving coupled multi-field problems is conducted, including thermal-electric coupling analysis, static structural analysis, and dynamic analysis. Finally, a prototype of the proposed connector is developed successfully, and its electrical performance is verified by the online test in a hydrostatic pressure environment with an ocean depth of 3000 m, which has reached the leading level in China. This paper is the first discloser on wet-mateable connectors in the aspects of design, theory, simulation and testing, which might be helpful to many ocean scientists in developing countries who are technically blocked or could not afford the high cost. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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13 pages, 1571 KiB  
Article
A Nonlinear Phase Transition Dynamic Model for Shape Memory Alloys Based Deep Sea Actuators
by Jian Guo, Binbin Pan, Weicheng Cui and Shengbing Hu
J. Mar. Sci. Eng. 2022, 10(12), 1951; https://doi.org/10.3390/jmse10121951 - 08 Dec 2022
Viewed by 1389
Abstract
A constitutive relation for shape memory alloys (SMAs) that is simple, accurate, and effective is the basis for deep-sea intelligent actuators used in marine engineering applications. The existing kinetic models of phase transition all have common drawbacks, such as sharp change at the [...] Read more.
A constitutive relation for shape memory alloys (SMAs) that is simple, accurate, and effective is the basis for deep-sea intelligent actuators used in marine engineering applications. The existing kinetic models of phase transition all have common drawbacks, such as sharp change at the turning point of the phase transition, constant phase transition rate, and many variable parameters. In this study, the one-dimensional thermodynamic constitutive equation for SMAs is extended based on the thermodynamic framework of the Boyd–Lagoudas constitutive model. In addition, the traditional phase transition function is replaced by an improved logistic nonlinear function in order to construct the relation for the macroscopic variable-speed phase transition that constitutes deep-sea actuator driving wires. The logistic model is compared to other models and verified by the numerical fitting results of the traditional constitutive model and the experimental data for two scenarios: (1) constant load and (2) constant temperature. The results show that the improved constitutive model has more advantages and better adaptability than the traditional models. Consequently, it can accurately describe the slow and gradual phase transitions in the initial and final regions of the phase transition with fewer variable parameters and has the ability to flexibly adjust the rate of change of the phase transition rate. These results provide important theoretical support for the design of SMA deep-sea actuators used in marine engineering applications. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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14 pages, 4686 KiB  
Article
Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom
by Xiaofei Du, Chaoyong Zong, Bo Zhang and Maolin Shi
J. Mar. Sci. Eng. 2022, 10(11), 1790; https://doi.org/10.3390/jmse10111790 - 21 Nov 2022
Cited by 4 | Viewed by 1805
Abstract
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 [...] Read more.
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. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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17 pages, 8853 KiB  
Article
Finite-Time Extended State Observe Based Fault Tolerant Control for Autonomous Underwater Vehicle with Unknown Thruster Fault
by Xiaofeng Liu, Mingjun Zhang, Xing Liu and Wende Zhao
J. Mar. Sci. Eng. 2022, 10(11), 1624; https://doi.org/10.3390/jmse10111624 - 02 Nov 2022
Cited by 2 | Viewed by 1465
Abstract
This paper investigates the problem of fault tolerant control (FTC) for autonomous underwater vehicles (AUVs) with multiple thrusters in the presence of current disturbances, thruster faults, and modelling uncertainty. This paper focuses on the problems of reducing the energy consumption caused by the [...] Read more.
This paper investigates the problem of fault tolerant control (FTC) for autonomous underwater vehicles (AUVs) with multiple thrusters in the presence of current disturbances, thruster faults, and modelling uncertainty. This paper focuses on the problems of reducing the energy consumption caused by the chattering of control signals and improving the tracking accuracy of an AUV operating in deep-sea environments. In view of the problem of large energy consumption in some other methods, a fault tolerant control method for multiple-thruster AUVs based on a finite-time extended state observer (FTESO) is proposed. More specifically, a FTESO based on an integral sliding mode surface is designed to estimate the generalized uncertainty compounded using current disturbances, thruster faults, and modelling uncertainty. The fast finite-time uniformly ultimately bounded stability of the proposed FTESO is analyzed. Then, based on the estimated value of FTESO, an FTC method based on non-singular fast terminal sliding mode surfaces is developed for AUVs. The finite-time convergence of the closed-loop control system is proved theoretically. In this design, two different sliding mode surfaces are used to design FTESO and FTC, in order to avoid the appearance of singularities. Moreover, a parameter adjustment method is designed to improve tracking accuracy. Finally, comparative numerical simulations show that the proposed control scheme is effective at reducing energy consumption and improving tracking accuracy. Full article
(This article belongs to the Special Issue Frontiers in Deep-Sea Equipment and Technology II)
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