Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Study on Dynamics Modeling and Depth Control for a Supercavitating Underwater Vehicle in Transition Phase

초공동 수중운동체의 천이구간 특성을 고려한 동역학 모델링 및 심도제어 연구

  • Kim, Seon Hong (Department of Naval Architecture and Ocean Engineering Seoul National university) ;
  • Kim, Nakwan (Department of Naval Architecture and Ocean Engineering Seoul National university)
  • 김선홍 (서울대학교 조선해양공학과) ;
  • 김낙완 (서울대학교 조선해양공학과)
  • Received : 2013.08.19
  • Accepted : 2014.01.14
  • Published : 2014.02.20
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Abstract

A supercavitation is modern technology that can be used to reduce the frictional resistance of the underwater vehicle. In the process of reaching the supercavity condition which cavity envelops whole vehicle body, a vehicle passes through transition phase from fully-wetted to supercaviting operation. During this phase of flight, unsteady hydrodynamic forces and moments are created by partial cavity. In this paper, analytical and numerical investigations into the dynamics of supercavitating vehicle in transition phase are presented. The ventilated cavity model is used to lead rapid supercavity condition, when the cavitation number is relatively high. Immersion depth of fins and body, which is decided by the cavity profile, is calculated to determine hydrodynamical effects on the body. Additionally, the frictional drag reduction associated by the downstream flow is considered. Numerical simulation for depth tracking control is performed to verify modeling quality using PID controller. Depth command is transformed to attitude control using double loop control structure.

Keywords

References

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  2. An Experimental Study on Ventilated Supercavitation of the Disk Cavitator vol.52, pp.3, 2015, https://doi.org/10.3744/SNAK.2015.52.3.236
  3. A Study on Design Constraints of a Supercavitating Underwater Vehicle vol.53, pp.1, 2016, https://doi.org/10.3744/SNAK.2016.53.1.54