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| Author(s): |
João Lucas Dozzi Dantas
Total Authors: 1
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| Document type: | Doctoral Thesis |
| Press: | São Paulo. |
| Institution: | Universidade de São Paulo (USP). Escola Politécnica (EP/BC) |
| Defense date: | 2014-05-26 |
| Examining board members: |
Ettore Apolonio de Barros;
Gustavo Roque da Silva Assi;
Jayme Pinto Ortiz;
Sergio Hamilton Sphaier;
Guilherme Nuno Vasconcelos Beleza Vaz
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| Advisor: | Ettore Apolonio de Barros |
| Abstract | |
The use of maneuvering models represents an important assistance in the project of marine vessels, allowing for the evaluation of the vehicle performance, the autopilot system development, among other tasks during the design phase. In the field of underwater vehicles, those models commonly are based on equations of motion that include polynomial expressions for representing the hydrodynamic efforts. They are derived from Taylor series expansion of forces and moments represented as functions of the motion variables. However, those models limit the representativeness of the hydrodynamic efforts, and, especially for the second order or higher terms, they require expensive trials in towing tank facilities to correctly identify each polynomic coefficient. This dependence on intensive tank tests has a critical impact, or is even unrealistic during the development of middle or low cost autonomous underwater vehicles, AUVs. Using current methods of computational fluid dynamics (CFD), this work proposes an alternative roadmap to construct nonlinear manoeuvring models, which can be applied to a class of AUVs. CFD simulations, verified and validated by rigorous standards, are used as basis to derive nonlinear functions that represent the hydrodynamic efforts due to variations in lateral velocity, angular rate and rudder deflection. The numerical approach is complemented by the use of analytical and semi-empirical models derived from missile industry, which have been improved according to the information taken from the CFD simulations. Further adjustments and derivation of confidence intervals to the estimates produced by the numerical method are also provided by the use of analytical and semi-empirical models. Adopting the Pirajuba AUV as a test bed, the manoeuvring model validation was carried out in two stages. Firstly, estimates of hydrodynamic efforts are compared with measurements obtained from experiments using a captive model in a towing tank. In the second step, the dynamic response predicted by the maneuvering model was compared with the output measured during free model trials. This type of analysis validated the hydrodynamic efforts and motion in most of the experiments, whereas for the remaining cases the AUV had its dynamic behavior well reproduced. This result demonstrates that the proposed methodology can be used to estimate the maneuvering model of a typical type AUV, generating a lower cost solution for the development phase of the vehicle. (AU) | |
| FAPESP's process: | 10/08628-0 - Modeling and optimization applied to the plant controller system of autonomous underwater vehicles |
| Grantee: | João Lucas Dozzi Dantas |
| Support Opportunities: | Scholarships in Brazil - Doctorate (Direct) |