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http://dx.doi.org/10.3744/SNAK.2020.57.5.287

Study on the Estimation of Autonomous Underwater Vehicle's Maneuverability Using Vertical Planar Motion Mechanism Test in Self-Propelled Condition  

Park, Jongyeol (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Rhee, Shin Hyung (Department of Naval Architecture and Ocean Engineering, Seoul National University)
Lee, Sungsu (School of Civil Engineering, Chungbuk National University)
Yoon, Hyeon Kyu (Department of Industrial Engineering and Naval Architecture, Changwon National University)
Seo, Jeonghwa (Department of Naval Architecture and Ocean Engineering, Chungnam National University)
Lee, Phil-Yeob (Naval R&D Center, Hanwha Systems Co., Ltd.)
Kim, Ho Sung (Naval R&D Center, Hanwha Systems Co., Ltd.)
Lee, Hansol (Naval R&D Center, Hanwha Systems Co., Ltd.)
Publication Information
Journal of the Society of Naval Architects of Korea / v.57, no.5, 2020 , pp. 287-296 More about this Journal
Abstract
The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.
Keywords
Autonomous Underwater Vehicle; Self-propulsion test; Vertical Planar Motion Mechanism (VPMM); Hydrodynamic coefficient; Maneuverability;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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