Cross body thruster control and modeling of a body of revolution Autonomous Underwater Vehicle
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Authors
Doherty, Sean Michael.
Subjects
Advisors
Horner, Douglas P.
Date of Issue
2011-03
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
Cross body thrusters permit a body of revolution Autonomous Underwater Vehicle to retain the energy efficiency of forward travel while increasing the ability to maneuver in confined areas such as harbors and piers. This maneuverability also permits more deliberate underwater surveys using a fixed, mounted forward and downward looking sonar. This work develops the necessary hydrodynamic coefficients, using methods applied to earlier vehicles, to develop a valid computer simulation model. Additionally, this work develops a polynomial regression translating thruster input in RPM to an applied force output, which is incorporated into the vehicle model. This model is then employed to examine the response and control, specifically at low speed, of a body-of-revolution Autonomous Underwater Vehicle equipped with off-axis cross-body thrusters. These results are then utilized to develop a series of PID controllers for use onboard the REMUS Autonomous Underwater Vehicle.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xviii, 95 p. : ill. (chiefly col.) ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.