Memorias de investigación
Research Publications in journals:
Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots
Year:2019

Research Areas
  • Submarines,
  • Submarine robots,
  • Robot design,
  • System identifications,
  • Non-linear systems,
  • System simulations,
  • Muti-variate systems,
  • System modeled

Information
Abstract
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).
International
Si
JCR
No
Title
Sensors
ISBN
1424-8220
Impact factor JCR
Impact info
Volume
Journal number
From page
1
To page
24
Month
SIN MES
Ranking
Participants

Research Group, Departaments and Institutes related
  • 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