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Investigation of a method for predicting AUV derivatives |
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| Authors: | EA de Barros A Pascoal |
| Institution: | a Department of Mechatronics Engineering and Mechanical Systems, University of São Paulo. Av. Prof. Mello Moraes, 2231, 05508-900 SP, Brazil b Institute for Systems and Robotics (ISR) and Department of Electrical Engineering and Computers, Instituto Superior Técnico, Av. Rovisco Pais, 1049-001 Lisbon, Portugal c National Institute of Oceanography, Dona Paula, Goa 403 004, India |
| Abstract: | The paper addresses the problem of autonomous underwater vehicle (AUV) modelling and parameter estimation as a means to predict the dynamic performance of underwater vehicles and thus provide solid guidelines during their design phase. The use of analytical and semi-empirical (ASE) methods to estimate the hydrodynamic derivatives of a popular class of AUVs is discussed. A comparison is done with the results obtained by using computational fluid dynamics to evaluate the bare hull lift force distribution around a fully submerged body. An application is made to the estimation of the hydrodynamic derivatives of the MAYA AUV, an autonomous underwater vehicle developed under a joint Indian-Portuguese project. The estimates obtained were used to predict the turning diameter of the vehicle during sea trials. |
| Keywords: | AUV Hydrodynamic derivatives Prediction method Manoeuvring CFD Slender body |
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