Six Degree of Freedom Simulation of Variable Mass Autonomous Underwater Vehicle

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Department of Electrical Engineering, Sarvestan Branch, Islamic Azad University, Sarevstan, Iran

Abstract

In this research, the general form of the governing equations that could be accounted as an essential prerequisite for simulation of a body is derived for an underwater varying mass body. In this study, the appropriate form of the aforementioned equations in the state space is presented and the procedure of motion simulation is illustrated. The hydrodynamic forces and moments, which could be viewed as the main inputs for simulation process, are generally nonlinear functions of system variables and are calculated with their respective coefficients. These coefficients, in turn, are associated with different system variables (such as control variables) and are calculated utilizing the MISSILE DATCOM code. Comparison of results associated to the current work and those of existing simple cases quantifies the accuracy of simulation procedure. The definition of body shape, simulation process, post processing and animating the body trajectory are all carried out in a general prepared software which is capable of simulating arbitrary underwater bodies consist of fixed wings and moving flaps

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Journal of Solid and Fluid Mechanics
Volume 4, Issue 4 - Serial Number 4
May and June 2015
Pages 33-44

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