Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Simulation of motion of an underwater vehicle
Download
index.pdf
Date
2007
Author
Geridönmez, Fatih
Metadata
Show full item record
Item Usage Stats
319
views
1494
downloads
Cite This
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 literature. 6DOF simulation package prepared for the underwater vehicle was developed using the MATLAB environment. S-function hierarchy is developed using the same platform with C++ programming language. With the usage of S-functions the problems related to the speed of the platform have been eliminated. The use of Sfunction hierarchy brought out the opportunity of running the simulation package on other independent platforms and get results for the simulation.
Subject Keywords
Control Engineering Systems
,
Automatic Machinery
URI
http://etd.lib.metu.edu.tr/upload/12608765/index.pdf
https://hdl.handle.net/11511/17068
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
Modeling and motion simulation of an underwater simulation
Küçük, Koray; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2007)
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...
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...
Control system design for a haptic device
Bideci, Süleyman; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2007)
In this thesis, development of a control system is aimed for a 1 DOF haptic device, namely Haptic Box. Besides, it is also constructed. Haptic devices are the manipulators that reflect the interaction forces with virtual or remote environments to its users. In order to reflect stiffness, damping and inertial forces on a haptic device position, velocity and acceleration measurements are required. The only motion sensor in the system is an incremental optical encoder attached to the back of the DC motor. The ...
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
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
F. Geridönmez, “Simulation of motion of an underwater vehicle,” M.S. - Master of Science, Middle East Technical University, 2007.
