Modeling, Control, and Experimental Validation of a High-Speed Supercavitating Vehicle

David Escobar Sanabria, Gary Balas, Roger Arndt

Research output: Contribution to journalArticle

24 Citations (Scopus)

Abstract

Underwater vehicles that travel inside a bubble or supercavity offer possibilities for high-speed and energy-efficient transportation of cargo and personnel. Validation and testing of mathematical models and control systems for these vehicles is a challenge due to the cost and complexity of experimental facilities and testing procedures. A cost-efficient and low-complexity approach to the experimental validation of mathematical models and control systems for a supercavitating test vehicle is presented in this paper. The proposed method enables the testing of control algorithms subject to steady and unsteady flows in a high-speed water tunnel. The method combines a real-time simulation of the vehicle dynamics, force measurements from an experimental scale vehicle, and flight control computer to reproduce the vehicle motion subject to realistic flow conditions and hardware constraints as actuator saturation and time delay. The model of the vehicle dynamics, used for the validation infrastructure and control design, is derived using experimental data. A controller designed to track pitch angle reference commands was tested on the experimental platform. The test cases validated the operation of the vehicle and controller subject to steady and unsteady flows.

Original languageEnglish (US)
Article number6810202
Pages (from-to)362-373
Number of pages12
JournalIEEE Journal of Oceanic Engineering
Volume40
Issue number2
DOIs
StatePublished - Apr 1 2015

Fingerprint

Steady flow
Unsteady flow
Testing
Mathematical models
Control systems
Controllers
Force measurement
Computer control
Costs
Time delay
Tunnels
Actuators
Personnel
Hardware
Water

Keywords

  • Controller validation
  • high-speed underwater vehicles
  • hybrid simulation
  • supercavitation

Cite this

Modeling, Control, and Experimental Validation of a High-Speed Supercavitating Vehicle. / Escobar Sanabria, David; Balas, Gary; Arndt, Roger.

In: IEEE Journal of Oceanic Engineering, Vol. 40, No. 2, 6810202, 01.04.2015, p. 362-373.

Research output: Contribution to journalArticle

@article{ff10f4075e2d41008c73508404a6cb4a,
title = "Modeling, Control, and Experimental Validation of a High-Speed Supercavitating Vehicle",
abstract = "Underwater vehicles that travel inside a bubble or supercavity offer possibilities for high-speed and energy-efficient transportation of cargo and personnel. Validation and testing of mathematical models and control systems for these vehicles is a challenge due to the cost and complexity of experimental facilities and testing procedures. A cost-efficient and low-complexity approach to the experimental validation of mathematical models and control systems for a supercavitating test vehicle is presented in this paper. The proposed method enables the testing of control algorithms subject to steady and unsteady flows in a high-speed water tunnel. The method combines a real-time simulation of the vehicle dynamics, force measurements from an experimental scale vehicle, and flight control computer to reproduce the vehicle motion subject to realistic flow conditions and hardware constraints as actuator saturation and time delay. The model of the vehicle dynamics, used for the validation infrastructure and control design, is derived using experimental data. A controller designed to track pitch angle reference commands was tested on the experimental platform. The test cases validated the operation of the vehicle and controller subject to steady and unsteady flows.",
keywords = "Controller validation, high-speed underwater vehicles, hybrid simulation, supercavitation",
author = "{Escobar Sanabria}, David and Gary Balas and Roger Arndt",
year = "2015",
month = "4",
day = "1",
doi = "10.1109/JOE.2014.2312591",
language = "English (US)",
volume = "40",
pages = "362--373",
journal = "IEEE Journal of Oceanic Engineering",
issn = "0364-9059",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

TY - JOUR

T1 - Modeling, Control, and Experimental Validation of a High-Speed Supercavitating Vehicle

AU - Escobar Sanabria, David

AU - Balas, Gary

AU - Arndt, Roger

PY - 2015/4/1

Y1 - 2015/4/1

N2 - Underwater vehicles that travel inside a bubble or supercavity offer possibilities for high-speed and energy-efficient transportation of cargo and personnel. Validation and testing of mathematical models and control systems for these vehicles is a challenge due to the cost and complexity of experimental facilities and testing procedures. A cost-efficient and low-complexity approach to the experimental validation of mathematical models and control systems for a supercavitating test vehicle is presented in this paper. The proposed method enables the testing of control algorithms subject to steady and unsteady flows in a high-speed water tunnel. The method combines a real-time simulation of the vehicle dynamics, force measurements from an experimental scale vehicle, and flight control computer to reproduce the vehicle motion subject to realistic flow conditions and hardware constraints as actuator saturation and time delay. The model of the vehicle dynamics, used for the validation infrastructure and control design, is derived using experimental data. A controller designed to track pitch angle reference commands was tested on the experimental platform. The test cases validated the operation of the vehicle and controller subject to steady and unsteady flows.

AB - Underwater vehicles that travel inside a bubble or supercavity offer possibilities for high-speed and energy-efficient transportation of cargo and personnel. Validation and testing of mathematical models and control systems for these vehicles is a challenge due to the cost and complexity of experimental facilities and testing procedures. A cost-efficient and low-complexity approach to the experimental validation of mathematical models and control systems for a supercavitating test vehicle is presented in this paper. The proposed method enables the testing of control algorithms subject to steady and unsteady flows in a high-speed water tunnel. The method combines a real-time simulation of the vehicle dynamics, force measurements from an experimental scale vehicle, and flight control computer to reproduce the vehicle motion subject to realistic flow conditions and hardware constraints as actuator saturation and time delay. The model of the vehicle dynamics, used for the validation infrastructure and control design, is derived using experimental data. A controller designed to track pitch angle reference commands was tested on the experimental platform. The test cases validated the operation of the vehicle and controller subject to steady and unsteady flows.

KW - Controller validation

KW - high-speed underwater vehicles

KW - hybrid simulation

KW - supercavitation

UR - http://www.scopus.com/inward/record.url?scp=85027956195&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85027956195&partnerID=8YFLogxK

U2 - 10.1109/JOE.2014.2312591

DO - 10.1109/JOE.2014.2312591

M3 - Article

AN - SCOPUS:85027956195

VL - 40

SP - 362

EP - 373

JO - IEEE Journal of Oceanic Engineering

JF - IEEE Journal of Oceanic Engineering

SN - 0364-9059

IS - 2

M1 - 6810202

ER -