Improved Underwater Vehicle Control and Maneuvering Analysis with Computational Fluid Dynamics Simulations

The quasi-steady state-space models generally used to simulate the dynamics of underwater vehicles perform well in most steady flow scenarios, and are therefore acceptable for modeling today\'s fleet of endurance-focused autonomous underwater vehicles (AUVs). However, with their usage of numerous assumptions and simplifications, these models are not well suited to certain unsteady flow situations and for use in the development of AUVs capable of performing more extreme maneuvers. In the interest of better serving efforts to design a new generation of more maneuverable AUVs, a tool for simulating vehicle maneuvering within computational fluid dynamics (CFD) based environments has been developed. Unsteady Reynolds-averaged Navier-Stokes (URANS) simulations are used in conjunction with a 6-degree-of-freedom (6-DoF) rigid-body kinematic model to provide a numerical test basin for vehicle maneuvering simulations. The accuracy of this approach is characterized through comparison with experimental measurements and quasi-steady state-space models. Three state-space models are considered: one model obtained from semi-empirical database regression (this is the method most commonly used in application) and two models populated with coefficients determined from the results of prescribed motion CFD simulations. CFD analyses focused on supporting the design of a general purpose AUV are also presented.

Name thesis:degree_name

Ph. D.

Level thesis:degree_level

doctoral

Discipline thesis:degree_discipline

Aerospace Engineering

Department dc:contributor.department

Aerospace and Ocean Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2013

Author dc:creator

• Coe, Ryan Geoffrey

Chair dc:contributor.committeechair

• Neu, Wayne L.

Committee members dc:contributor.committeemember

• Tafti, Danesh K.
• Stilwell, Daniel J.
• Woolsey, Craig A.

• Computational fluid dynamics
• AUV
• Maneuvering

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:1556

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/23777