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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 51021 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Abbaspour, Madjid
- Abstract:
- Nowadays marine-tourism industry, especially under water tourism, has become very attractive. Thus, numerous under water vehicles are designed and constructed. The primary objective of the present study is to design an underwater vehicle capable of carrying ten passengers. Tow system is proposed as propulsion system. Due to the high costs, noise and vibrations of existing propulsion systems in medium size vehicles which contradicts the goal of calm atmosphere for passenger, the proposing system seems suitable and pragmatic. Two-part tow system is utilized to enhance the stability of the under water vehicle named Towfish. In this study the structure of towfish is being designed. Then, transverse static stability in both surface and submersible conditions are being investigated. This thesis examines the dynamics, stability and control of the two-part tow. A Simulink simulation that models the towfish dynamics was implemented. Through this Simulink simulation a parametric study was conducted to see the effects of sea state, towing speed, and a PID controller on the towfish dynamics. A detailed static analysis of the towing cable’s effects on the towfish enhanced this dynamic model
- Keywords:
- Underwater Vehicle ; Dynamic Simulation ; Proportional-Integral-Derivative (PID)Controller ; Two-part Tow System ; Towfish Dynamic
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