Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Mathematical Model for Dynamics of Manta-type Unmanned Undersea Vehicle with Six Degrees of Freedom and Characteristics of Manoeuvrability Response

Manta형 무인잠수정의 6자유도 운동 수학모델 및 조종응답 특성

  • 손경호 (한국해양대학교 해양시스템공학부) ;
  • 이승건 (부산대학교 조선해양공학과) ;
  • 하승필 (한국해양대학교 해양시스템공학부)
  • Published : 2006.08.01
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Abstract

Mathematical model for coupled motions of Manta-type Unmanned Undersea Vehicle(UUV) moving with six degrees of freedom, is formulated. Furthermore, a calculation method for estimating the linear hydrodynamic derivatives acting on UUV, is proposed, and some of the estimated linear hydrodynamic derivatives are compared with results of captive model experiment. Based on linear dynamic model of UUV, a study was made to examine dynamic stability and turning ability in horizontal plane. And directional stability and required elevation rudder angles for neutrally operating in vertical plane, are also discussed.

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References

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