A 6DOF simulation tool for autonomous underwater vehicles with a novel method for added mass-inertia calculation

Download
2018
Taş, Oğuzhan
Autonomous Underwater Vehicles, AUVs becomes popular with the development of related technologies. An high quality six degrees of motion simulation (6DOF) is a necessary tool for trajectory predictions at the design phase and also for autopilot development. 6DOF simulation software for an AUV requires a detailed database of static and dynamic hydrodynamic coefficients of the vehicle in different operational conditions, similar to an aircraft simulation. For an underwater vehicle simulation, additionally the added mass/inertia parameters of the vehicle are required. Calculation of added mass/inertia characteristics of the vehicle have always been challenging task for the developers. Several theoretical, experimental and numerical methods are generated for the calculation of added mass/inertia. In this study, a 6DOF motion simulation tool is generated in MATLAB Simulink environment. A database of hydrodynamic parameters necessary for the simulation are generated using Computational Fluid Dynamics (CFD) techniques to be utilized in the simulation tool. Then, a novel method for the calculation of added mass/inertia is proposed in this study. The new method is based on calculation of oscillation frequency of a submerged object using CFD techniques. Added mass/inertia coefficients calculated by the proposed method is integrated to the simulation tool. The verification of the proposed added mass inertia calculation method and also the simulation tool are carried out by comparing the results with the experimentally determined added mass values of simple shapes and the experimentally obtained trajectory data of Remus AUV.

Suggestions

Conceptual design of a stealth unmanned combat aerial vehicle with multidisciplinary design optimization
Çakın, Uğur; Alemdaroğlu, Hüseyin Nafiz; Department of Aerospace Engineering (2018)
The present study aims to develop a methodology for multi-disciplinary design optimization (MDO) of an unmanned combat aerial vehicle. At the current stage of optimization study, three disciplines are considered, which are aerodynamics, structural weight and radar cross section (RCS) signature. As objective functions, maximum range and minimum RCS signature are employed. To generate pareto-optimal solutions, multi-objective particle swarm optimization (MOPSO) function of MATLAB® is performed. To get aerodyn...
A direct drive permanent magnet generator design for a tidal current turbine SeaGen
Keysan, Ozan; Markus, Mueller (2011-05-15)
In this study, the feasibility of a direct-drive permanent magnet generator for a tidal turbine power take-off system, namely MCT's SeaGen - the world's first full scale commercial tidal turbine- has been investigated. The investigated PM generator topology is called C-GEN which is an air-cored axial-flux generator developed in the University of Edinburgh. The C-GEN is prior to conventional PM generators by absence of magnetic attraction forces between rotor and stator, absence of cogging torque, ease of ma...
Modeling and control of autonomous underwater vehicle manipulator vehicle manipulator systems
Korkmaz, Ozan; İder, Kemal S.; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2012)
In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The ...
Navigation and system identification of an unmanned underwater survey vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2017)
This study includes the mathematical model of an unmanned underwater vehicle, autopilot and the guidance design, the navigation solution and system identification of the unmanned underwater survey vehicle SAGA (Su Altı Gözlem Aracı). First, the 6 degrees-of-freedom (DOF) nonlinear mathematical model of an unmanned underwater vehicle is obtained by a Newton-Euler formulation. Then, the autopilot is designed by utilizing the proportional–integral–derivative (PID) control approach. The navigation problem is so...
A parallel aerostructural shape optimization platform for airplane wings
Oktay, Erdal; Arpacı, Anıl; Şehitoğlu, Onur Tolga; Akay, Hasan Umur (null; 2019-05-17)
A parallel design platform is developed for aerostructural shape optimization of airplane wings. The developed tools consist of a panel method-based aerodynamic solver, a finite element-based structural solver, geometry and mesh generation modules and a parallel genetic algorithm optimizer, with emphasis given to automation and fast solutions
Citation Formats
O. Taş, “A 6DOF simulation tool for autonomous underwater vehicles with a novel method for added mass-inertia calculation,” M.S. - Master of Science, Middle East Technical University, 2018.