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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 40150 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Seif, Mohammad Saeed; Sayyaadi, Hassan
- Abstract:
- In recent years, unmanned vehicles have intensively been developed to reduce human dangers for marine applications. Predicting the dynamic behaviour 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 dynamic equations. Therefore, to optimizing the AUV design it is necessary to predict maneuvering abillity and dynamic behaviour of AUV. This can be able by computational simulation. 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 procedure of hydrodynamic modeling of underwater vehicles consist of deriving equations of motion, determining the hydrodynamic coefficients and choosing the solution method. The simulation of motion has been performed by programming in the Matlab software. In fourth chapter the motions simulator of the Underwater Vehicles is explained. In the case of validating the results of Simulation, the experimental tests of ISiMI AUV simulated .Comparison of results shows good and acceptable coincidence. At the end to investigating the dynamic behaviour of the SUT-2 some tests were performed and the their results compared by the Computational simulation. Using Computational simulation, instead of complicated and expensive model test procedure, not only reduces the research time and cost but also increase the precision. In this thesis to simulating the motion of underwater vehicles a software is provided and its results validated by experimental tests. Motion simulating are used for prediction dynamic behaviour and also autonomous controller design. Meanwhile, the method applied in this thesis can be used for optimization of body form
- Keywords:
- Hydrodynamic Coefficients ; Dynamic Simulation ; Experimental Test ; Autonomous Underwater Vehicle ; Six Degree of Freedom (6DOF)Motion Equation
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