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Hydrodynamic performance and motion control of underwater robot in incoming flow
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Yi-zhe DOU1, 2, Jia-ming WU2, Zhi-qiang DONG1, Xian-yuan YANG2, Xiang-xi HAN3
Journal of Ship Mechanics | 2025, 29(4) : 535 - 546
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Journal of Ship Mechanics | 2025, 29(4): 535-546
• Hydrodynamics •
Hydrodynamic performance and motion control of underwater robot in incoming flow
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Yi-zhe DOU1, 2, Jia-ming WU2, Zhi-qiang DONG1, Xian-yuan YANG2, Xiang-xi HAN3
Affiliations
  • 1.R & D Center, Sealien Robotics Ltd., Guangzhou 511466, China
  • 2.College of Civil and Transportation Engineering, South China University of Technology, Guangzhou 510640, China
  • 3.School of Mechanical and Marine Engineering, Beibu Gulf University, Qinzhou 535011, China
Published: 2025-04-20 doi: 10.3969/j.issn.1007-7294.2025.04.003
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The method of combining overlapping grid and sliding grid was applied to study the hydrodynamic performance and motion control of an underwater robot under incoming flow. The PID (Proportional, Integral, Differential) control method was used to realize the vertical heave motion under the presence of incoming flow through the joint operation of the umbilical cable and the ducted propeller, and the depth of the underwater robot was maintained under the condition of incoming flow change. The trim angle of the underwater robot could be adjusted by the propeller though PID method, maintaining the attitude close to balance at a fixed depth. Also the underwater robot can keep its trim angle constant throughout the entire movement process under the complicated heave working conditions.

underwater robot  /  ducted propeller  /  hydrodynamic  /  PID control  /  attitude control
Yi-zhe DOU, Jia-ming WU, Zhi-qiang DONG, Xian-yuan YANG, Xiang-xi HAN. Hydrodynamic performance and motion control of underwater robot in incoming flow[J]. Journal of Ship Mechanics, 2025 , 29 (4) : 535 -546 . DOI: 10.3969/j.issn.1007-7294.2025.04.003
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Year 2025 volume 29 Issue 4
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Article Info
doi: 10.3969/j.issn.1007-7294.2025.04.003
  • Receive Date：2024-10-25
  • Online Date：2026-03-24
  • Published：2025-04-20
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History
  • Received：2024-10-25
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Affiliations
    1.R & D Center, Sealien Robotics Ltd., Guangzhou 511466, China
    2.College of Civil and Transportation Engineering, South China University of Technology, Guangzhou 510640, China
    3.School of Mechanical and Marine Engineering, Beibu Gulf University, Qinzhou 535011, China
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表12种不同金属材料的力学参数
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Family		 属数
Number of
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Number of
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Percentage of
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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