Abstract
Autonomous Underwater Vehicle (AUV) is a growing technology with a great potential to both military and civilian applications. Extensive developments and advanced innovations of AUV have been introduced in recent years from various research centres around the world. Among the fundamental modules of an AUV, the propulsion system strongly affects the vehicle performance. The increasing complexity in missions and operational environment require the propulsion system to offer high efficiency and excellent manoeuvrability. In this study, an AUV simulation program named AUVSIPRO is proposed in the preliminary design stage to predict and compare the AUV manoeuvrability equipped with different propulsion configurations. A series of primary manoeuvres standard for underwater vehicles are presented to investigate the system feasibility. In order to derive the mathematical model in the simulator, the propulsor models are experimentally conducted in the Towing Tank, the hull hydrodynamic coefficients are calculated using analytical, and system identification approaches. The system outputs are achieved by numerical method. The simulation program provides an effective platform to examine different the propulsion system configurations to an AUV as well as a torpedo shaped submarine.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Steele, J.H., Thorpe, S.A., Turekian, K.K.: Elements of physical oceanography: A Derivative of the Encyclopedia of Ocean Sciences. Academic Press, San Diego (2009)
Dhanak, M.R., Xiros, N.I. (eds.): Springer Handbook of Ocean Engineering. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-16649-0
Nicholson, J., Healey, A.: The present state of autonomous underwater vehicle (AUV) applications and technologies. Mar. Technol. Soc. J. 42(1), 44–51 (2008)
Shinohara, M., et al.: Development of an underwater gravity measurement system using autonomous underwater vehicle for exploration of seafloor deposits. In: OCEANS 2015 Genova. IEEE (2015)
Roberts, G.N., Sutton, R.: Further advances in unmanned marine vehicles, vol. 77. IET, London (2012)
Humphrey, T.C.: Design and fabrication of a collective and cyclic pitch propeller, Memorial University of Newfoundland (2005)
Niyomka, P.: Performance and control of a collective and cyclic pitch propeller for an underwater vehicle, University of Tasmania (2014)
SNAME, T.: Nomenclature for treating the motion of a submerged body through a fluid. The Society of Naval Architects and Marine Engineers, Technical and Research Bulletin No., pp. 1–5 (1950)
Fossen, T.I.: Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley, Chichester (2011)
De Barros, E., Pascoal, A., De Sa, E.: Investigation of a method for predicting AUV derivatives. Ocean Eng. 35(16), 1627–1636 (2008)
Evans, J., Nahon, M.: Dynamics modeling and performance evaluation of an autonomous underwater vehicle. Ocean Eng. 31(14), 1835–1858 (2004)
Tran, M.Q., et al.: Least squares optimisation algorithm based system identification of an autonomous underwater vehicle. In: Proceedings of the 3rd Vietnam Conference on Control and Automation, Vietnam (2015)
ITTC: Recommended procedures and guidelines, propulsion/bollard pull test. In: International Towing Tank Conference, 7.5-02-03-01.1, Revision 04 (2011)
ITTC: Recommended Procedures, Captive Model Test Procedure. In: International Towing Tank Conference, 7.5-02-06-02, Revision 04 (2014)
Azarsina, F., Williams, C.D.: Manoeuvring simulation of the MUN Explorer AUV based on the empirical hydrodynamics of axi-symmetric bare hulls. Appl. Ocean Res. 32(4), 443–453 (2010)
Sgarioto, D., Madden, C.: Full-scale manoeuvring trials for the Wayamba unmanned underwater vehicle. Underw. Technol. 32(2), 67–79 (2014)
Steenson, L., et al.: Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces. In: Proceedings of the 17th International Undersea Untethered Submersible Technology Conference (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Tran, M., Binns, J., Chai, S., Forrest, A., Nguyen, H. (2018). AUVSIPRO – A Simulation Program for Performance Prediction of Autonomous Underwater Vehicle with Different Propulsion System Configurations. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2017. Lecture Notes in Computer Science(), vol 10756. Springer, Cham. https://doi.org/10.1007/978-3-319-76072-8_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-76072-8_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-76071-1
Online ISBN: 978-3-319-76072-8
eBook Packages: Computer ScienceComputer Science (R0)