Design and Hydrodynamic Modeling and Control of a Towed Underwater Vehicle and Its Statical and Dynamical Stability

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Khanmoradi, Nima | 2021

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 53921 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Abbaspour Tehrni Fard, Madjid; Saayyadi, Hassan
Abstract:
Today, as an effective tool for marine applications, towed submarines play an im-portant role in various sectors of the marine industry, including defense, recreation, ocean exploration, etc. The high cost of existing thrust systems, as well as the signifi-cant vibrations in them, run counter to the goal of designing this small, low-cost sub-marine. Therefore, the decision was made to design this vessel with a tensile thrust system. In this project, an attempt is made to introduce and design the structure of the body and the carrying capacity of the passenger by a recreational submarine with the ability to move 10 people as passengers And while introducing the structure of the body shape and analyzing its strength, determining the important geometric and hydrodynamic points in stability, static and dynamic (volume center, metacenter, etc.) has studied stability. Then, according to the ability to be stretched by a cable and through a surface float, we can study the hydrodynamics governing the motion and the relevant equations and calculations related to speed, acceleration, etc
Keywords:
Underwater Vehicle ; Submarine ; Design ; Modeling ; Design and Prototyping ; Towfish Dynamic ; Recreational Submarine ; Towed Cable Isolator

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