Design and development of an autonomous underwater vehicle
This thesis presents the computation of both steady and unsteady hydrodynamic derivatives required for the design and control of an Autonomous Underwater Vehicle (AUV). The unsteady hydrodynamic derivatives were determined by calculating the added mass force acting on the AUV using the Ansys AQWA so...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2020
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| Online Access: | https://hdl.handle.net/10356/139234 |
| _version_ | 1811692309330264064 |
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| author | Tan, Anabel Yan Li |
| author2 | Basman Elhadidi |
| author_facet | Basman Elhadidi Tan, Anabel Yan Li |
| author_sort | Tan, Anabel Yan Li |
| collection | NTU |
| description | This thesis presents the computation of both steady and unsteady hydrodynamic derivatives required for the design and control of an Autonomous Underwater Vehicle (AUV). The unsteady hydrodynamic derivatives were determined by calculating the added mass force acting on the AUV using the Ansys AQWA software. The results obtained for the AUV was validated by simulating a sphere model and comparing the results with the analytical values. The steady hydrodynamic derivatives were obtained by conducting Computational Fluid Dynamic (CFD) simulations. The k-ω SST model was used to predict the drag force acting on the AUV during surge, heave and sway motions. The realizable k-ε turbulence model was used to predict the moments acting on the AUV during roll, pitch and yaw motions. Enhanced wall treatment and overset mesh interface was used during the rotational simulations. Therefore, the full added mass matrix and hydrodynamic damping matrix of the Fossen model was obtained. |
| first_indexed | 2024-10-01T06:33:44Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/139234 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:33:44Z |
| publishDate | 2020 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1392342023-03-04T20:02:18Z Design and development of an autonomous underwater vehicle Tan, Anabel Yan Li Basman Elhadidi School of Mechanical and Aerospace Engineering mbasman@ntu.edu.sg Engineering::Aeronautical engineering This thesis presents the computation of both steady and unsteady hydrodynamic derivatives required for the design and control of an Autonomous Underwater Vehicle (AUV). The unsteady hydrodynamic derivatives were determined by calculating the added mass force acting on the AUV using the Ansys AQWA software. The results obtained for the AUV was validated by simulating a sphere model and comparing the results with the analytical values. The steady hydrodynamic derivatives were obtained by conducting Computational Fluid Dynamic (CFD) simulations. The k-ω SST model was used to predict the drag force acting on the AUV during surge, heave and sway motions. The realizable k-ε turbulence model was used to predict the moments acting on the AUV during roll, pitch and yaw motions. Enhanced wall treatment and overset mesh interface was used during the rotational simulations. Therefore, the full added mass matrix and hydrodynamic damping matrix of the Fossen model was obtained. Bachelor of Engineering (Aerospace Engineering) 2020-05-18T06:15:25Z 2020-05-18T06:15:25Z 2020 Final Year Project (FYP) https://hdl.handle.net/10356/139234 en A016 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Aeronautical engineering Tan, Anabel Yan Li Design and development of an autonomous underwater vehicle |
| title | Design and development of an autonomous underwater vehicle |
| title_full | Design and development of an autonomous underwater vehicle |
| title_fullStr | Design and development of an autonomous underwater vehicle |
| title_full_unstemmed | Design and development of an autonomous underwater vehicle |
| title_short | Design and development of an autonomous underwater vehicle |
| title_sort | design and development of an autonomous underwater vehicle |
| topic | Engineering::Aeronautical engineering |
| url | https://hdl.handle.net/10356/139234 |
| work_keys_str_mv | AT tananabelyanli designanddevelopmentofanautonomousunderwatervehicle |