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An underwater vehicle uses buoyancy to dive in water. So the center of gravity isnt fixed unlike the center of buoyancy which depends on the volume of the AUV.
The center of buoyancy will be the center of the body frame attached to the AUV. The local x-axis will be along the longitudinal axis with its positive direction from the CB to the nose.
The z-axis will be normal to the transversal plane of the AUV pointing downwards
Thus the y-axis can be easily assigned This placement yields both port-starboard and top-bottom symmetry, reducing the bodys inertia tensor Io to:
Kinematics
following vectors:
where refers to the inertial position and orientation vector, and v the body-fixed linear and angular velocities.
Kinematics
The transformation matrix J1 is generated by first performing a rotation of angle about the z-axis, followed by a rotation of about the x-axis, and finally a rotation about the y-axis.
Kinematics
Equations of Motion
frame
The following symbols are used for components in the x, y, and z directions of the body frame:
Equations of Motion
with rigid-body inertia matrix MRB and Coriolis and centripetal matrix CRB
The applied forces and moments, represented by F and M respectively, arise due to a
number of effects:
In fluid mechanics, an accelerating (or decelerating) body must move some volume of the surrounding fluid which is called the added mass.
Added mass is a measure of the additional inertia created by water which accelerates with the submarine.
This force depends on certain parameters that must be calculated using the shape of
the AUV
Drag is related to the fluid density , submarine frontal area Af and lies in the direction of the fluid velocity V
It is assumed that the sway (v) and heave velocity (w) are small compared with the surge (u). Angle of attack can be expressed: in the XZ-plane as tan = w/u or in the XY-plane as tan = v/u
where:
Lift L, acting at the centre of pressure, is generated perpendicular to the flow, as the submarine moves through the water. Relocating this force to act at the center of buoyancy causes a pitching moment M to be created
Lift force and pitching moment, when viewed in the XZ-plane are: where:
Using the expression of the angle of attack, under the assumption uw or v we have:
The orientation of the body frame relative to the world frame is described by Euler angles rotated in the order:
The static forces, weight (W) and buoyancy (B) act through the centre of gravity and centre of buoyancy respectively. When resolved onto the submarine body frame, these become:
Attitude of the vehicle is controlled by two horizontal stern planes, and two vertical rudders. Assuming diametrically opposite fins move together the empirical formula for fin lift is given as:
where CLf is the rate of change of lift coefficient w.r.t. fin effective angle of attack and Sfin is the fin planform area. e is the effective fin angle in radians. For the rudder:
The propeller provides forces Xprop and moments Kprop around the X axis of the body-fixed frame.
Conclusion
After calculating the forces we must rearrange the terms so to have the
following form:
M.v + C(v).v =
We still have to calculate the parameters associated with the AUV shape