Research on Hydrodynamic Characteristics and Motion Response of the"Falling Deep"Control of Vehicle under the Action of Internal Solitary Waves
In order to effectively avoid the occurrence of"falling deep"during the operation of the vehicle,this paper establishes an internal solitary wave numerical water tank based on the Navier-Stokes equation of Reynolds average and the mKdV theory.The interaction between suspended vehicle with different depths below the pycnocline and internal solitary waves is studied,and PD(proportional-derivative)control with different parameters is applied to the vehicle,which is compared with the uncontrolled vehicle.Explore its control effect and the hydrodynamic characteristics and motion response of the vehicle.The research results indicate that the"falling deep"of the vehicle is mainly caused by the rapid increase in vertical displacement and pitch angle,and the control effect varies depending on the control parameters applied to the vehicle.After the internal solitary wave passes,the vertical velocity of the vehicle is controlled to fluctuate near zero,and the heave displacement is effectively suppressed.After control,the pitch angle of the vehicle can be reduced to 1/15 of the uncontrolled value,and the pitch angle of the vehicle can be controlled below 0.2 rad after applying control.
internal solitary wavehydrodynamic characteristicsmotion responsePD controlfalling deep
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