Papers by Author: Yong Jie Pang

Abstract: The theory of 2D wave generation with active wave absorption is outlined. A new control method of active absorption wave-maker is established based on the S plane control (SPC) algorithm in this paper. Using SPC, a piston-type 2D numerical wave flume (NWF) simulation program for simultaneous wave generation and active wave absorption is developed with Boundary Element Method (BEM) and Mixed Eulerian-Lagrangian (MEL). The absorbing wave-making contrast simulation tests for regular wave are also carried out in NWF. Simulation results verify that the controller is robust and well effect for absorbing re-reflected wave is obtained in low reflect condition. Meanwhile, stable wave profile can be output by the absorbing wave-maker in a long time when acute reflected waves appear in the terminal of NWF.

Abstract: Semi-physical acoustic vision simulation system of autonomous underwater vehicle (AUV) was established by combining physical simulation of decision layer with virtual simulation of sensory and executive layer. The hardware and software architecture of the simulation system were explained in detail. The virtual simulation of sonar sensor and the design of sonar vision processing system of the physical simulation were described. Finally, the long distance obstacle avoidance simulation, special objects search simulation and multi-objects tracking simulation tests were conducted to demonstrate the importance of the system to the success of sea experiments.

Abstract: Underwater vehicle plays an important role in ocean engineering. Depth control by fin is one of the difficulties for underwater vehicle in motion control. Depth control is indirect due to the freedom coupling between trim and axial motion. It is included the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm. Considering the current speed and depth deviation, comprehensive interpretation is used in object-planning instruction. Expected depth is transformed into expected trim. Dynamic output fluctuation can be avoided, which is caused by linear mapping of deviation. It is steady and accurate for the motion of controlled underwater vehicle. The feasibility and efficiency are testified in the pool and natural area for experiments.

Abstract: A strong tracking filter based on suboptimal fading extended Kalman filter was proposed to ensure the perception for the motion state of underwater vehicles accurate in the paper. For the uncertainty of nonlinear system model, the strong tracking filter theory was introduced, orthogonality principle was put forward. Then suboptimal fading factor was pulled in, and extended Kalman filter for nonlinear system was established. The strong tracking filter was applied to data processing of underwater vehicle, and results indicate that it can effectively improve the accuracy and robustness of underwater navigation information.