• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.4
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.257-261
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• 2004

Computational fluid dynamics analysis was carried out for thermo-chemical flow field in Arcjet thruster with mono-propellant Hydrazine ($N_2$H$_4$) as a working fluid. The theoretical formulation is based on the Reynolds Averaged Navier-Stokes equations for compressible flows with thermal radiation. The electric potential field governed by Maxwell equation is loosely coupled with the fluid dynamics equations through the Ohm heating and Lorentz force. Chemical reactions were assumed being infinitely fast due to the high temperature field inside the arcjet thruster. An equilibrium chemistry module for nitrogen-hydrogen mixture and a thermal radiation module for optically thin media were incorporated with the fluid dynamics code. Thermo-physical process inside the arcjet thruster was understood from the flow field results and the performance prediction shows that the thrust force is increased by amount of 3 times with 0.6KW arc heating.

• 한국전산유체공학회:학술대회논문집
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• 2011.05a
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• pp.368-372
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• 2011

The aerodynamic characteristics of the L-type side jet thruster are examined by using computational fluid dynamics methods. The critical design points of L-type side jet thruster with bent nozzle by 90degrees are studied in terms of the relation between side jet nozzle geometry and thrust efficiency.

• Ocean Systems Engineering
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• v.1 no.4
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• pp.297-315
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• 2011

New applications of streamlined Autonomous Underwater Vehicles require an AUV capable of completing missions with both high-speed straight-line runs and slow maneuvers or station keeping tasks. At low, or zero, forward speeds, the AUV's control surfaces become ineffective. To improve an AUV's low speed maneuverability, while maintaining a low drag profile, through-body tunnel thrusters have become a popular addition to modern AUV systems. The effect of forward vehicle motion and sideslip on these types of thrusters is not well understood. In order to characterize these effects and to adapt existing tunnel thruster models to include them, an experimental system was constructed. This system includes a transverse tunnel thruster mounted in a streamlined AUV. A 6-axis load cell mounted internally was used to measure the thrust directly. The AUV was mounted in Memorial University of Newfoundland's tow tank, and several tests were run to characterize the effect of vehicle motion on the transient and steady state thruster performance. Finally, a thruster model was modified to include these effects.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.6
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• pp.373-380
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• 2017

In this study, we conducted computational fluid dynamics (CFD) simulations for the unsteady hydrodynamic interaction of multiple thrusters by solving Reynolds averaged Navier-Stokes equations. A commercial CFD software, STAR-CCM+ was used for all simulations by employing a ducted thruster model with combination of a propeller and No. 19a duct. A sliding mesh technique was used to treat dynamic motion of propeller rotation and non-conformal hexahedral grid system was considered. Four different combinations in tilting and azimuth angles of the thrusters were considered to investigate the effects on the propulsion performance. We could find that thruster-hull and thruster-thruster interactions has significant effect on propulsion performance and further study will be required for the optimal configurations with the best tilting and relative azimuth angle between thrusters.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.12
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• pp.1359-1365
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• 2014

In this study, 1-way fluid structure interaction analysis(FSI) for the shutter, component of side jet thruster was performed to evaluate the safety. Driving torque to open nozzle, thermal and high pressure load of hot gas was applied to shutter. Thus, the shutter must be designed to endure this load during combustion. We carried out computational fluid dynamics analysis to obtain the pressure, temperature, and heat transfer coefficient of hot gas of side jet thruster. We then used the data as the load condition for a thermal structural analysis using a mapping method. The locations with the maximum stress and temperature distributions were found. We compared the maximum stress with the tensile stress of shutter material according to temperature to evaluate the safety. We also analyzed the radial deformation of the shutter to set the proper interface gap with the side jet thruster parts.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.60 no.1
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• pp.80-86
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• 2024

We analyzed the performance of hubless rim propellers based on the number of blades, maintaining a fixed pitch ratio and expanded area ratio, using computational fluid dynamics (CFD). Thrust coefficient, torque coefficient and efficiency according to the number of blades were analyzed. In addition, the pressure distribution on the discharge and suction sides of the blade was analyzed. As the advance ratio increases, the thrust coefficient decreases. The highest thrust was shown when the advance ratio was lowest. For the three, four, five and six-blades, the torque coefficient tended to decrease as the advance ratio increased. In the case of seven and eight-blades, the torque coefficient tended to increase as the advance ratio increased. The maximum efficiency was found when the advance ratio was 0.8. When the three-blade, it showed high efficiency at all advance ratios. A high pressure distribution was observed at the leading edge of the discharge blade, and a low pressure distribution was observed at the trailing edge. Applying a hubless rim-driven thruster with the three-blade can generate higher thrust and increase work efficiency.

• Journal of the Korean Vacuum Society
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• v.19 no.2
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• pp.121-127
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• 2010

Neutral gas in a Hall-effect thruster in a small satellite is simulated using a molecular dynamics code. Investigated are neutral density, pressure, axial average velocity, and temperature for the variation of diffusive reflection ratio, initial gas temperature, and channel length. Expected through this research are improving of discharge simulation through the neutral simulation and understanding of real system.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1203-1211
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• 2009

The dynamics of underwater vehicles can be greatly influenced by the dynamics of the vehicle thrusters. The control of the state of the hovering or very slow motion of the underwater vehicle is most important for automatic docking or control of the manipulator of the vehicle. The dynamics of the thruster based on the electric motor is nonlinear and has uncertain parameters. Since the dynamics of the vehicle coupled with the dynamics of the thruster is nonlinear and has uncertain parameters, a robust control is very effective for a desired motion tracking of the uncertain and nonlinear vehicle. In this paper a study was performed on the robust control scheme of the very slow motion or hovering motion of the underwater vehicle actuated by the electric motor. Also, a concurrent control on the state of the vehicle with nonlinearity and uncertain parameters was performed. A sliding mode control algorithm out of robust controllers was designed and applied, which compensates the nonlinear forces and uncertain parameters of the vehicle and actuator. Through a computer simulation, the proposed control scheme was compared with a linear PD controller and its superior performance was validated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.4
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• pp.341-347
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• 2011

This work studies the performance of an injector for a monopropellant thruster, comparing a conventional and new injector types. The conventional injector consists of 8 nozzles on a convex surface allowing the jet to be diverged. The new injector, we suggested, is an impinging type with nozzle holes on a concave surface. The fuel streams through the nozzle holes are collide at a point on an axial direction, which allow to atomize the liquid streams and to spray more uniformly along circular direction. The performance of the injectors is investigated by using computational fluid dynamics, particle image velocimetry and high speed camera visualization.