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Hydrodynamic Modeling of an AUV

Fesanghari, Majid | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39173 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. Autonomous underwater vehicles (AUVs) are a type of marine vehicles which are currently being used for exploration, maintenance, repairing of marine structures and military appliances. Unmanned underwater vehicles categorize in two types: ROVs and AUVs, ROVs (remotely operated vehicles) usually are connected to the mother vessel with a cable, conduction signals transfer through this cable and there is an operator in the control loop. The vehicle may be fed up with this cable, AUVs are modern underwater vehicles which the operator on controlling and conducting is removed, there is no connection between the vehicle and mother vessel, energy sources and controlling orders are set up in the vehicle. Dynamic modeling of AUVs on design and maneuverability analysis is very important. Design and construction of AUVs are completely affected by envitomental conditions, so controllability and maneuverability have to be studied by mathematical models. a mathematical model includes forces and hydrodynamic moments which describe as a set of hydrodynamic coefficients. There is an AUV in the marine engineering laboratory of mechanical engineering faculty of Sharif University of technology which is used in this project; the purpose of performing of this project is estimating the hydrodynamic coefficients and hydrodynamic modeling of the vehicle. Some of these coefficients are estimated with usual mathematical methods and the motion of the vehicle is predicted with solving of equations of motion. Neural network is used for completing the vehicles controllability
  9. Keywords:
  10. Control ; Hydrodynamic Coefficients ; Autonomous Underwater Vehicle ; Hydrodynamic Analysis ; Modeling

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