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

Abstract

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).

A technique for efficient computation of steady yaw manoeuvres using CFD

“…In literature, several approaches for the grid design can be found, such as designing the grid specifically for the given manoeuvring condition as done by Zhang et al [14,40], Franceschi et al [11] or Park et al [26]. An example is included in Fig.…”

Dynamic Response Analysis of a Wavestar-Type Wave Energy Converter Using Augmented Formulation in Korean Nearshore Areas

“…where M, u, Q, C, C u , and λ are the mass matrix, displacement vector, generalized external force vector, constraint equation vector of the system at the displacement level, the Jacobian matrix of constraint equations (C u = ∂C/∂u), and the Lagrange multiplier vector, respectively. Euler angles were used to transform the body-fixed frame to an earth-fixed frame [27]. The second term on the right-hand side of Equation (1) represents the constraint force acting on the center of gravity of each object caused by the constraint condition.…”

Computational Fluid Dynamics Investigation of Hydrodynamic Forces and Moments Acting on Stern Rudder Plane Configurations of a Submarine

“…The failure of stern steering of the submarine with X-rudder plane or Cross-rudder plane configurations was also investigated. Hydrodynamic forces and moments of an underwater vehicle with Cross-rudder plane configuration were obtained through CFD-based simulation of rotating arm test, drift test, rudder test, and combination tests (between rotating arm and rudder deflection or drift-rudder) [15]. The obtained hydrodynamic coefficients were then introduced into the equations of turning motion to evaluate the turning behavior of the vehicle.…”