Simulation-Based Determination of Hydrodynamic Derivatives and 6DOF Motion Analysis for Underwater Vehicle

Go, Gwangsoo; Ahn, Hyung Taek; Ahn, Jinhyeong

doi:10.26748/ksoe.2017.10.31.5.371

Cited by 3 publications

(2 citation statements)

References 10 publications

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“…Figure 6 illustrates the arrangement of thrust and rudder in relation the TUV's 6DOF (six degrees of freedom) motion. The motion of a TUV in 6DOF can be described by the following vectors [10,11].…”

Section: Control Algorithm Designmentioning

confidence: 99%

Estimation and Control of a Towed Underwater Vehicle with Active Stationary and Low-Speed Maneuvering Capabilities

Kim

Yun

Park

et al. 2023

JMSE

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A variety of mission equipment is mounted and utilized on UUVs (unmanned underwater vehicles) for the development of marine resources and underwater searching for military purposes. For exploration of a wide area, it is advantageous to use a towed underwater platform, and for precision exploration to a specific location, to use an active mobile ROV (remotely operated vehicles). Since the TUV (towed underwater vehicle) moves according to the speed of the towing vessel, it cannot be operated if the vessel is stationary or the speed is low. Therefore, TUVs do not have equipment that is useful at low speeds, such as optical cameras or forward looking sonars. If a TUV capable of active movement such as stationary or low-speed operation is developed, it can search a wide area and then accurately search for a specific location, with one platform mounting various mission equipment. In this paper, we propose a method for estimating the control model for a prototype of this novel TUV, and propose a depth and posture control algorithm to which the model is applied. The proposed TUV and control algorithm were verified by experiments under the flow rate environment in the circulating water channel.

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Section: Control Algorithm Designmentioning

confidence: 99%

Estimation and Control of a Towed Underwater Vehicle with Active Stationary and Low-Speed Maneuvering Capabilities

Kim

Yun

Park

et al. 2023

JMSE

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show abstract

“…Wang and Liang (2019) performed a maneuverability analysis of a modular underwater vehicle that has four tail thrusters and two tunnel thrusters. Go et al (2017) conducted a 6-degree-of-freedom (DOF) motion analysis of a tow-fish-type underwater vehicle using hydrodynamic derivatives based on CFD.…”

mentioning

confidence: 99%

Simulation-Based Prediction of Steady Turning Ability of a Symmetrical Underwater Vehicle Considering Interactions Between Yaw Rate and Drift/Rudder Angle

Park

Shin

Jeon

et al. 2021

J. Ocean Eng. Technol.

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Mass of Underwater Vehicle (kg) Moment of Inertia (kg-m 2 ) X Position in Earth-Fixed Frame (m) Y Position in Earth-Fixed Frame (m) Yaw Angle in Earth-Fixed Frame (rad) Surge Velocity in Body-Fixed Frame (m/s) Sway Velocity in Body-Fixed Frame (m/s) Overall Speed (m/s) Yaw Rate in Body-Fixed Frame (rad/s) Drift Angle (rad) Rudder Deflection Angle (rad) Surge Force in Body-Fixed Frame (N) Sway Force in Body-Fixed Frame (N) Yaw Moment in Body-Fixed Frame (N-m) Length of Underwater Vehicle Body (m) X coordinate of Center of Gravity (m) Y coordinate of Center of Gravity (m) 1. Introduction Many kinds of underwater vehicles have been developed for military, commercial, and scientific purposes, such as submarines, torpedoes, autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), underwater gliders, etc. Underwater vehicles need to have various types of performance depending on their operating concept and tasks. For example, maneuverability, course-keeping ability, turning ability, and course-changing ability are the most fundamental elements, so their prediction is very important work in the design process of underwater vehicles. The process of predicting maneuverability consists of constructing equations of motion, obtaining hydrodynamic derivatives, and performing flight simulation. Most equations of motion of an underwater vehicle are based on the submarine dynamic model by Gertler and Hagen (1967). Feldman (1979) proposed a modified dynamic model to describe extreme turning and a high angle of attack accurately based on the model of Gertler and Hagen. Healey and Lienard (1993) proposed a dynamic model for a large AUV for low-speed flight. Many another researchers have also carried out research on equations of motion (Bae et al., 2009;Park et al., 2015).

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Motion Simulation of FPSO in Waves through Numerical Sensitivity Analysis

Kim¹,

Park²,

Suh³

et al. 2018

J. Ocean Eng. Technol.

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This paper presents a numerical sensitivity analysis for the simulation of the motion performance of an offshore structure in waves using computational fluid dynamics (CFD). Starting with 2D wave simulations with varying numerical parameters such as grid spacing and CFL value, proper numerical conditions were found for accurate wave propagation that avoids numerical diffusion problems. These results were mapped on 2D error distributions of wave amplitude and wave length against the numbers of grids per wave length and per wave height under a given CFL condition. Finally, the 2D numerical sensitivity result was validated through CFD simulation of the motion of a FPSO in waves showing good accuracy in motion RAOs compared with existing potential flow solutions.

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Simulation-Based Determination of Hydrodynamic Derivatives and 6DOF Motion Analysis for Underwater Vehicle

Cited by 3 publications

References 10 publications

Estimation and Control of a Towed Underwater Vehicle with Active Stationary and Low-Speed Maneuvering Capabilities

Estimation and Control of a Towed Underwater Vehicle with Active Stationary and Low-Speed Maneuvering Capabilities

Simulation-Based Prediction of Steady Turning Ability of a Symmetrical Underwater Vehicle Considering Interactions Between Yaw Rate and Drift/Rudder Angle

Motion Simulation of FPSO in Waves through Numerical Sensitivity Analysis

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