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REMUS AUV

REMUS AUV

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Remus AUV
Remus AUV

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01/24/2013

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Verification of a Six-Degree of Freedom Simulation Model
for the REMUS Autonomous Underwater Vehicle
by
Timothy Prestero
B.S., Mechanìcal Engineering
University of California at Davis (1994)
Submitted to the Joint Program in Applied Ocean Science and Engineering
in partial fulfillment of the requirements for the degrees of
Master of Science in Ocean EngineeringandMaster of Science in Mechanical Engineering
at the
MASSACHUSETTS INSTITUTE OF TECHNOLOGY
and the
WOODS HOLE OCEANOGRAPHIC INSTITUTION
September 200 i
CS 2001 Timothy Prestero. All rights reserved.
The author hereby grants MIT and WHOI permission to reproduce paper
electronic copies of this thesis in whole or in part and to distribute them pu
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Verification of a Six-Degree of Freedom Simulation Model for the
REMUS Autonomous Underwater Vehicle
by
Timothy Prestero
Submitted to the Joint Program in Applied Ocean Science and Engineering
on 10 August 2001, in partial fulfillment of therequirements for the degrees of
Master of Science in Ocean EngineeringandMaster of Science in Mechanical Engineering
Abstract
Improving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such
applications as long-range oceanographic survey, autonomous docking, and shallow-water mine coun-
termeasures requires improving the vehicles' maneuvering precision and battery life. These goals
can be achieved through the improvement of the vehicle control system. A vehicle dynamics model
based on a combination of theory and empirical data would provide an effcient platform for vehi-cle control system development, and an alternative to the typical trial-and-error method of vehicle
control system field tuning. As there exists no standard procedure for vehicle modeling in industry,
the simulation of each vehicle system represents a new challenge.
Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS
AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis
describes the development and verification of a six degree of freedom, non-linear simulation model
for the REMUS vehicle, the first such model for this platform. In this model, the external forces
and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control
inputs of the vehicle propeller and fins are all defined in terms of vehicle coeffcients. This thesis
describes the derivation of these coeffcients in detaiL. The equations determining the coeffcients,
as well as those describing the vehicle rigid-body dynamics, are left in non-linear form. to better
simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is
achieved through numeric integration of the equations of. motion. The simulator output is then
checked against vehicle dynamics data collected in experiments performed at sea. The simulator is
shown to accurately model the motion of the vehicle.Thesis Supervisor: Jerome Milgram
Title: Professor of Ocean Engineering, MIT
Thesis Supervisor: Kamal Youcef-Toumi
Title: Professor of Mechanical Engineering, MIT
Thesis Supervisor: Christopher von Alt
Title: Principal Engineer, WHOI

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