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Numerical Simulation of Flow Around Autonomous Underwater Vehicle Body and Hydrodynamic Forces Analysis

Sadeghzadeh Parapari, Behnam | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40058 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed; Mahdigholi, Hamid
  7. Abstract:
  8. In recent years, unmanned vehicles have intensively been developed to reduce human dangers for marine applications. Predicting the hydrodynamic coefficients of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains various hydrodynamic forces and moments expressed collectively in terms of hydrodynamic coefficients. Therefore, the correct values of the coefficients must be known to precisely design the controller of AUVs. SUT-2 is an AUV, being developed by Marine Engineering Laboratory of Sharif University of Technology in Iran. In this thesis, most of investigations and analysis are consequently about this model. First chapter is about the types of unmanned underwater vehicles and their applications. Second chapter indicates the underwater vehicles dynamic modeling methods and simplifying the motion equations. Third chapter, presents the computational fluid dynamics and hydrodynamic modeling of vehicle for predicting it’s hydrodynamic coefficients. In this research, commercial software "Fluent 6.3.26" used to numerical simulation of flow around SUT-2 and results are valid with model test done into marine engineering lab towing tank and also results of REMUS AUV. Comparison of results shows good and acceptable coincidence. Computational fluid dynamic method, instead of complicated and expensive model test procedure, not only reduces the research time but also increase the precision. In this thesis hydrodynamic coefficients calculated with numerical simulation of flow around autonomous underwater vehicle and hydrodynamic forces analyzed. This coefficients are used for dynamic modeling and autonomous controller design. Method applied in this thesis can be used for optimization of body form.
  9. Keywords:
  10. Hydrodynamic Coefficients ; Dynamic Modeling ; Computational Fluid Dynamics (CFD) ; Autonomous Underwater Vehicle

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