Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics...

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Main Authors:	José J. Castillo-Zamora, Karla A. Camarillo-Gómez, Gerardo I. Pérez-Soto, Juvenal Rodríguez-Reséndiz, Luis A. Morales-Hernández
Format:	Article
Language:	English
Published:	MDPI AG 2021-01-01
Series:	Sensors
Subjects:	mini-AUV hydrodynamic parameters identification CFD simulation ANSYS™ position controllers
Online Access:	https://www.mdpi.com/1424-8220/21/3/820

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spelling	doaj-09b9c86759364654ab21d579cad5ccfe2021-01-27T00:02:48ZengMDPI AGSensors1424-82202021-01-012182082010.3390/s21030820Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance EvaluationJosé J. Castillo-Zamora0Karla A. Camarillo-Gómez1Gerardo I. Pérez-Soto2Juvenal Rodríguez-Reséndiz3Luis A. Morales-Hernández4L2S of Université Paris Sud-CNRS-CentraleSupelec, Université Paris Saclay, 91190 Gif-sur-Yvette, FranceMechanical Engineering Department, Tecnológico Nacional de México/Instituto Tecnológico de Celaya, Celaya, Guanajuato 38010, MexicoFaculty of Engineering, Universidad Autónoma de Querétaro, Santiago de Querétaro, Querétaro 76010, MexicoFaculty of Engineering, Universidad Autónoma de Querétaro, Santiago de Querétaro, Querétaro 76010, MexicoFaculty of Engineering, Universidad Autónoma de Querétaro, San Juan del Río, Querétaro 76807, MexicoThis manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.https://www.mdpi.com/1424-8220/21/3/820mini-AUVhydrodynamic parameters identificationCFD simulationANSYS™position controllers
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	José J. Castillo-Zamora Karla A. Camarillo-Gómez Gerardo I. Pérez-Soto Juvenal Rodríguez-Reséndiz Luis A. Morales-Hernández
spellingShingle	José J. Castillo-Zamora Karla A. Camarillo-Gómez Gerardo I. Pérez-Soto Juvenal Rodríguez-Reséndiz Luis A. Morales-Hernández Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation Sensors mini-AUV hydrodynamic parameters identification CFD simulation ANSYS™ position controllers
author_facet	José J. Castillo-Zamora Karla A. Camarillo-Gómez Gerardo I. Pérez-Soto Juvenal Rodríguez-Reséndiz Luis A. Morales-Hernández
author_sort	José J. Castillo-Zamora
title	Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation
title_short	Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation
title_full	Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation
title_fullStr	Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation
title_full_unstemmed	Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation
title_sort	mini-auv hydrodynamic parameters identification via cfd simulations and their application on control performance evaluation
publisher	MDPI AG
series	Sensors
issn	1424-8220
publishDate	2021-01-01
description	This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.
topic	mini-AUV hydrodynamic parameters identification CFD simulation ANSYS™ position controllers
url	https://www.mdpi.com/1424-8220/21/3/820
work_keys_str_mv	AT josejcastillozamora miniauvhydrodynamicparametersidentificationviacfdsimulationsandtheirapplicationoncontrolperformanceevaluation AT karlaacamarillogomez miniauvhydrodynamicparametersidentificationviacfdsimulationsandtheirapplicationoncontrolperformanceevaluation AT gerardoiperezsoto miniauvhydrodynamicparametersidentificationviacfdsimulationsandtheirapplicationoncontrolperformanceevaluation AT juvenalrodriguezresendiz miniauvhydrodynamicparametersidentificationviacfdsimulationsandtheirapplicationoncontrolperformanceevaluation AT luisamoraleshernandez miniauvhydrodynamicparametersidentificationviacfdsimulationsandtheirapplicationoncontrolperformanceevaluation
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Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

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