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

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2018

Öğrenci: OĞUZHAN TAŞ

Danışman: ÖZGÜR UĞRAŞ BARAN

Özet:

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.