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TMR4225 Marine Operations, 2007.01.25 Lecture content: Linear submarine/AUV motion equations AUV hydrodynamics Hugin operational experience Linear motion equations Linear equations can only be used when The vehicle is dynamically stable for motions in horisontal and vertical planes The motion is described as small perturbations around a stable motion, either horisontally or vertically Small deflections of control planes (rudders) For axisymmetric bodies the 6DOF equations can be split in two sets of 2 DOF equations Dynamic stability Characteristic equation for linear coupled heave - pitch motion: ( A*D**3 + B*D**2 + C*D + E) θ = 0 Dynamic stability criteria is: A 0, B 0 , BC – AE 0 and E0 Found by using Routh’s method Dynamic stability (cont) For horisontal motion the equation (2.15) can be used if roll motion is neglected The result is a set of two linear differential equations with constant coefficients Transform these equations to a second order equation for yaw speed Check if the roots of the characteristic equation have negative real parts If so, the vehicle is dynamically stable for horisontal motion Methods for estimating forces/moments Theoretical models Potential flow, 2D/3D models Lifting line/lifting surface Viscous flow, Navier-Stokes equations Experiments Towing tests (resistance, control forces, propulsion) Oblique towing (lift of body alone, body and rudders) Submerged Planar Motion Mechanism Cavitation tunnel tests (resistance, propulsion, lift) Free swimming Methods for estimating forces/moments Empirical models Regression analysis based on previous experimental results using AUV geometry as variables Submarine and AUV motion equations EUCLID Submarine project Testing the EUCLID submarine in waves Model fixed to 6 DOF force transducer Constant speed Regular waves Submarine close to the surface Numerical study of bow plane vortex AUV overview AUV definition: A total autonomous vehicle which carries its own power and does not recei