Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

doi:10.1007/s12204-015-1669-9

Abstract

Abstract: Static stability analysis of the two-point mooring autonomous underwater vehicle (AUV) is presented. The mathematic model is a set of equilibrium equations describing the attitude of the AUV. The mooring lines are regarded as inelastic catenaries, and five degrees of freedom of AUV are considered. The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations. We analyze stability of the prime AUV and find that the AUV has a flow-following tendency, which makes the swing angle big. The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed, and it will weigh anchor when the speed is greater than 3 kn. Subsequent parametric study reveals the influence of the designing parameters on the stability.

Key words: autonomous underwater vehicle (AUV)| two-point mooring| stability analysis| static| equilibrium equation

摘要： Static stability analysis of the two-point mooring autonomous underwater vehicle (AUV) is presented. The mathematic model is a set of equilibrium equations describing the attitude of the AUV. The mooring lines are regarded as inelastic catenaries, and five degrees of freedom of AUV are considered. The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations. We analyze stability of the prime AUV and find that the AUV has a flow-following tendency, which makes the swing angle big. The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed, and it will weigh anchor when the speed is greater than 3 kn. Subsequent parametric study reveals the influence of the designing parameters on the stability.

关键词: autonomous underwater vehicle (AUV)| two-point mooring| stability analysis| static| equilibrium equation

CLC Number:

TJ 630.1

DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (王有江). Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle[J]. Journal of shanghai Jiaotong University (Science), 2015, 20(5): 618-624.

References

[1] Song Bao-wei, Zhu Xin-yao, Liang Qing-wei, et al.Conceptual design of latent unmanned underwater vehicle[J]. Fire Control and Command Control, 2010,35(8): 107-128 (in Chinese).
[2] Pan Guang, Shi Yao, Du Xiao-xu, et al. Numerical simulation of sink-stability for unmanned underwater lurk vehicle [J]. Journal of Shanghai Jiaotong University,2012, 46(9): 1493-1497 (in Chinese).
[3] Kim B K, Bernitsas M M. Nonlinear dynamics and stability of spread mooring with riser [J]. Applied Ocean Research, 2001, 23(2): 111-123.
[4] Cozijn J L, Bunnik T H J. Coupled mooring analysis for a deep water CALM buoy [C]// 23rd International Conference on Offshore Mechanics and Arctic Engineering.Vancouver, Canada: OMAE, 2004: 1-11.
[5] Bernitsas M M, Chung J S. Nonlinear stability and simulation of two-line ship towing and mooring [J]. Applied Ocean Research, 1990, 12(2): 77-92.
[6] Banik A K, Datta T K. Stability analysis of twopoint mooring system in surge oscillation [J]. Journal of Computational and Nonlinear Dynamics, 2010,5(2): 1-8.
[7] Banik A K, Datta T K. Stochastic response and stability analysis of two-point mooring system [C]// Proceedings of the ASME 2011 30th International Conference on Ocean, Offshore and Arctic Engineering. Rotterdam,The Netherlands: OMAE, 2011: 49714. 1-10.
[8] Pang Guang, Du Xiao-xu. Torpedo mechanices [M].Xi’an: Shaanxi Normal University Press, 2013 (in Chinese).
[9] Fan X T, Shao M, Sun J W, et al. Numerical research on mooring system of wave measuring buoy [J].Advanced Materials Research, 2013, 787: 439-444.
[10] Tsai M C, Lee H H, Lee J Y, et al. A single mooring system with sag-extensibility and flexural rigidity applied to offshore platform [J]. China Ocean Engineering,2013, 27(3): 335-350.
[11] Grewal M S, Andrews A P. Kalman filtering: Theory and practice using MATLAB [M]. New York: John Wiley & Sons, Inc., 2011.
[12] Yu Yang. Experimental design for the determination of anchor chain drag coefficients in current [J]. Journal of Experimental Mechanics, 2010, 25(3): 246-250 (in Chinese).

[1]	CHEN Changxiong, PENG Zilong, SONG Hao, XUE Yaqiang, ZHOU Fulin. Prediction Method of the Low-Frequency Multistatic Scattering Sound Field for Underwater Spherical Targets Based on Limited Data [J]. Journal of Shanghai Jiao Tong University, 2024, 58(7): 1006-1017.
[2]	TANG Qianyu. Experimental Study on Platform Vortex Induced Motion Considering Wave Current Coupling Effect [J]. Ocean Engineering Equipment and Technology, 2024, 11(4): 75-84.
[3]	YU Miao, HU Jingxuan, ZHANG Shouzhi, WEI Jingjing, SUN Jianqun, WU Yixiao. Fast Stability of New Power System Based on a PMU Gradient Dynamic Deviation Method [J]. Journal of Shanghai Jiao Tong University, 2024, 58(1): 40-49.
[4]	YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei. USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer [J]. Journal of Shanghai Jiao Tong University, 2023, 57(S1): 114-123.
[5]	CHEN Gang(陈刚), LIU Hongyue(刘宏月), GAO Ruiriang(高瑞翔). Calibration Technology of Optical Fiber Strain Sensor [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(5): 551-559.
[6]	WANG Jue∗ (王珏), LI Peng (李朋), SONG Shiyao (宋诗瑶). Mechanical Analysis Methods of Cantilever Gearbox Housing [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(2): 233-242.
[7]	JIANG Peng (江鹏), LI Zhibin (李志彬), ZHANG Long (张龙), LI Jing (李敬), ZHANG Qun (张群), GUAN Zhenqun∗ (关振群). Calculation of Electrostatic/Magnetic Adhesion Force Between Adjacent Objects Considering Thin Gap Effect [J]. J Shanghai Jiaotong Univ Sci, 2023, 28(2): 213-219.
[8]	Huang Jun, LI Shaojie, KANG Zhuang. Analysis of J-Lay Laying of Large Diameter Submarine Pipeline [J]. Ocean Engineering Equipment and Technology, 2023, 10(2): 145-151.
[9]	LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong. Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator [J]. Journal of Shanghai Jiao Tong University, 2022, 56(7): 944-952.
[10]	HUANG Fenghua, CHENG Bin, TENG Nianguan. Influence of Structural Pseudo-Static Components on Seismic Responses of Low-Medium Speed Maglev Vehicle-Bridge System [J]. Journal of Shanghai Jiao Tong University, 2022, 56(4): 486-497.
[11]	YANG Tao (杨涛), ZHAO Jiankang∗ (赵健康). Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 281-297.
[12]	FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺). Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 383-392.
[13]	MAO Yingzhong, FENG Zhiyong, GUO Huiru. Static Output Feedback Control of Vehicle Active Front Steering Considering Multiple Performance Constraints [J]. Journal of Shanghai Jiao Tong University, 2022, 56(2): 156-164.
[14]	WAN Hui, QI Xiaohui, LI Jie. Linear Matrix Inequality Based Stability Analysis of Linear/Nonlinear Switching Active Disturbance Rejection Control System [J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1491-1501.
[15]	HU Bin, HE Qiang, WU Yatao, SUN Qingyang, LIU Yunshen. Modeling and Characteristics Analysis of Two-Dimensional Space-Time Clutter for Airborne Bistatic Radar [J]. Air & Space Defense, 2022, 5(1): 37-44.