Modeling and motion simulation of an underwater simulation

Download
2007
Küçük, Koray
This thesis involves modeling, controller design, and test case simulations for an underwater vehicle. Firstly, a complete dynamic model of the vehicle is developed with six degrees of freedom. The model includes the nonlinearities associated with the hydrodynamic forces and moments. The thrusters of the vehicle are also modeled. Then, using appropriate linearizations of the model, position and rate controllers are designed for the forward, downward, and turning motions of the vehicle. Finally, the designed controllers are tested for various maneuvers by means of simulations using the nonlinear dynamic model of the vehicle. The simulation results show that the designed controllers are quite satisfactory for the intended maneuvers.

Suggestions

Simulation of motion of an underwater vehicle
Geridönmez, Fatih; Alemdaroğlu, Hüseyin Nafiz; Department of Aerospace Engineering (2007)
In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available in the literature. Basic equations of motion are developed to simulate the motion of the underwater vehicle and the parameters needed for the hydrodynamic modeling of the vehicle is obtained from the available litera...
Modeling and real-time control system implementation for a Stewart Platform
Albayrak, Onur; Arıkan, Mehmet Ali Sahir; Department of Mechanical Engineering (2005)
This work focuses on modeling and real-time control of a motion simulator for dynamic testing of a two-axis gyro-stabilized head mirror used in modern tanks. For this purpose, a six-degree-of freedom Stewart Platform which can simulate disturbances on the stabilized head mirror during operation of the tank is employed. Mathematical models of the Stewart Platform are constructed using MATLAB and ADAMS. Control system infrastructure is constructed and real-time control system elements are employed. Controller...
Modeling and simulation of a maneuvering ship
Pakkan, Sinan; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2007)
This thesis documents the studies conducted in deriving a mathematical model representing the dynamics of a maneuvering ship to be implemented as part of an interactive real-time simulation system, as well as the details and results of the implementation process itself. Different effects on the dynamics of ship motions are discussed separately, meaning that the effects are considered to be applied to the system one at a time and they are included in the model simply by the principle of superposition. The mo...
GPS based altitude control of an unmanned air vehicle using digital terrain elevation data
Ataç, Selçuk; Platin, Bülent Emre; Department of Mechanical Engineering (2006)
In this thesis, an unmanned air vehicle (UAV) is used to develop a prototype base test platform for flight testing of new control algorithms and avionics for advanced UAV system development applications. A control system that holds the UAV at a fixed altitude above the ground is designed and flight tested. Only the longitudinal motion of the UAV is considered during the controller design, hence its lateral motions are controlled manually by a remote control unit from the ground. UAV’s altitude with respect ...
Modeling and control of a stabilization system
Afacan, Kamil; Balkan, Raif Tuna; Department of Mechanical Engineering (2004)
Elevation axis model of a barrel stabilization system is constructed. The nonlinearities which are considered in the model are orifice flow characteristics, coulomb friction, hard-stop limits, kinematics of the system and unbalance on the barrel. A Simulink® model for the servo valve, actuation system and barrel is constructed. Servo valve identification is made via the actual test data. Compressibility of the hydraulic fluid is taken into consideration while modeling the actuation system. Friction model is...
Citation Formats
K. Küçük, “Modeling and motion simulation of an underwater simulation,” M.S. - Master of Science, Middle East Technical University, 2007.