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Publishing Language: Chinese

Rolling test and dynamics simulation of spherical underwater vehicle

Pengfei XU1,2( ), Tao LYU1, Tong GE2, Hongxia CHENG1, Min ZHAO2
College of Harbour, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China
School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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Abstract

Objectives

In order to investigate the rolling-forward law of a spherical underwater vehicle and the influence of mass distribution on its motion, this study carries out the innovative design and analysis of its mechanical mechanism.

Methods

First, a dynamic model of the rolling-forward motion is established using the Newton-Euler method. The influence of mass distribution on its motion is then analyzed through the ground test and underwater hydrodynamics theory. Finally, by building a simulation environment and virtual prototype, the rolling dynamics of the vehicle underwater and on land are compared and analyzed.

Results

The results show that when the built-in driving unit rotates constantly, the speed of the vehicle fluctuates and the swing angle of the built-in driving unit also alters periodically. When the driving weight is increased, the period and amplitude of swing angle become smaller, and the rolling-forward motion becomes more stable.

Conclusions

The results of this paper can provide guidance for the further optimization of spherical underwater vehicles.

Keywords

spherical underwater vehiclerolling testdynamics modelmotion simulation
CLC number: TP242 Document code: A

References

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Chinese Journal of Ship Research
Volume 17 Issue 6,
December 2022
Pages 216-222
DOI: 10.19693/j.issn.1673-3185.02583

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Cite this article:
XU P, LYU T, GE T, et al. Rolling test and dynamics simulation of spherical underwater vehicle. Chinese Journal of Ship Research, 2022, 17(6): 216-222. https://doi.org/10.19693/j.issn.1673-3185.02583

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Received: 05 November 2021
Revised: 06 February 2022
Published: 27 December 2022
© 2022 Chinese Journal of Ship Research.