Memorias de investigación
Artículos en revistas:
Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots
Año:2019
Áreas de investigación
  • Submarino,
  • Robots submarinos,
  • Diseño de robots,
  • Identificación de sistemas,
  • Sistema no-lineales,
  • Simulación de sistemas,
  • Sistemas multivariables,
  • Modelado de sistemas
Datos
Descripción
Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD). One method for obtaining the hydrodynamic coefficients of an ROV (Remote Operated Vehicle) is by using an experimental PMM (Planar Motion Mechanism) or CWC (Circular Water Channel); however, the use of these experimental infrastructures is costly. Therefore, it is of interest to obtain these coefficients in other ways, for example, by the use of simple experiments. The Free Decay Test is an ideal type of experiment, as it has a low cost and is simple to implement. In this paper, two different free decay tests were carried out, to which three different methods for obtaining coefficients were applied. They were compared with results obtained by CFD simulation to conduct a statistical analysis in order to determine their behaviours. It was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot).
Internacional
Si
JCR del ISI
No
Título de la revista
Sensors
ISSN
1424-8220
Factor de impacto JCR
Información de impacto
Volumen
DOI
Número de revista
Desde la página
1
Hasta la página
24
Mes
SIN MES
Ranking
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Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC