FINAL YEAR PROJECT

Submitted in fulfillment of the requirements for the

 

ENGINEERING 2 DEGREE IN COMPUTATIONAL MECHANICS

FROM THE LEBANESE UNIVERSITY
FACULTY OF ENGINEERING- BRANCH III

Optimal design and modeling of Autonomous

underwater vehicle AUV

Supervised by:
DR. HASSAN SHRAIM
DR. Daoud Baalbaki
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Content

 Definition of an AUV

 AUV in consideration

 Design and structure

 Dynamic model

 Simulations and results

 Conclusion & future work 2

 Definition of an AUV

 An Autonomous Underwater Vehicle (AUV) is a robotic device that is

driven through the water.
 Maneuverable of AUV is done through different system such as propeller
system , buoyancy system or both.
 It replaced by the human in the hazardous environment.
 AUVs are untethered, fully automated submersible vehicles capable of
performing underwater tasks with their onboard sensors and navigation
equipment.

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 AUV in consideration

 The proposed design is a torpedo like vehicle with a propeller in the aft
section, and steerable control surfaces to control the pitch and yaw
rotations.
 The vehicle hull is composed of three sections: The Nose, the middle hull,
the rear chamber.
 A buoyancy engine is located in the middle section of AUV

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 Design and structure
 Resistance of pressure
 Streamlined shape
 Good maneuverability

Determine
Shape of the Material
the hull
hull selection
thickness
• Sphere • Steel • Analytical
• Cylinder • Aluminum • Numerical
• ellipsoid • Titanium
• Composite
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 Shape of the hull

Basic principles of pressure hull design

1. Minimize the size of the hull to reduce surface area.
2. Use pressure resistant shape.
3. Design the structure so that pressures encountered work with you, rather
than against you.
4. Hull must bear all internal component in such a way that any component
must not affect other one

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Material selection

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 Hull Thickness

• Aluminum 6061, σy = 275 MPa

D0= 214 mm, D1=204 mm.

• Collapse pressure due to Von Mises:

Yields PL =15.2 MPa

• Hydrostatic pressure at 200m deep:

P=ρgh= 1025*9.8*200

P= 2.02 MPa < PL =15.2 MPa

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Validation in Ansys (collapse pressure)

Von mises stress Deformation

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 Rear Part
Stepper
motor

Rudder angle propeller

battery

Stern angle

CPU

Propeller H-160 Hollis Airfoil NACA 0015 Stepper motor Battery 250.1201 10
Dynamixel E 106 - 27.6V- 16 Ah - NiMh
 Middle Part / Buoyancy Pump

 The buoyancy system also called buoyancy pump or ballast pump, is a

device used to control the buoyancy of the vehicle

Adapter Linear actuator

Ballast pump

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Linear actuator SKF-CAHB Adapter with seals Piston ballast
with diameter 5cm
 Other component

 Sonar transponder: micron DST

 Short burst data transceiver: Iridium 9602

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 Total Cost
component quantity Price of each Total price
item
Hull shape 1 90.03$
Linear actuator 4 118$
Stepper motor 4 499$
Hydraulic pump 1 150$
Propeller 1 1110$
Sonar transponder 1 6193$
Iridium 9602 1 213$
driver 4 117$
CPU 1 325$
Battery 1 80$
Other accessories 500$
Total 11597$
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 kinematic Model
 In modelling underwater vehicles, two
reference frames are commonly used
• a world reference frame {W}.
The world coordinates are defined with respect to
the real world
• a body reference frame {B}.
the body coordinates are defined with respect to
the vehicle itself
 Euler angles define the rotation angle about
the three Cartesian axes, x, y and z. There are
many notations for Euler angles, however, the
z-y-x form corresponding to rotation angles of
yaw ψ, pitch θ, and roll φ, respectively, is used
here. 14
 Dynamic model

The dynamical model is derived from the Newton-Euler motion equation and
is given by

ʍ V’ + C(V) V + D(V) V + G = τ
• M = inertia matrix and added mass matrix

• C(ν) = Coriolis and centripetal matrix

• D(ν) = damping matrix

• g(η) = gravitational forces and moments

• τ = control inputs

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 Mass and inertia Matrix
ʍ V’ + C(V) V + D(V) V + G = τ
 ʍ consists of both a rigid body mass and inertia MRB, and a hydrodynamic
added mass, MA. That is,

ʍ= MRB+ MA
Belvins present empirical formulas for axial added mass coefficients.
Crossflow added mass coefficients are estimated using strip theory for a slender body.

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 Coriolis and Centripetal Matrix
ʍ V’ + C(V) V + D(V) V + G = τ

 Coriolis is an inertial force that acts perpendicular to the direction

of motion of a body, Since the coordinate system of an AUV
rotates with respect to another reference frame, the effect of the
Coriolis force is usually taken into account and included in the
equations of motion.

 C (V), as with the mass matrix consists of two matrices, CRB (V) and
CA (V), summed together :
C (V) = CRB (V) + CA (V)

 CRB (V) is the rigid body Coriolis and centripetal matrix induced by
MRB, while CA is a Coriolis-like matrix induced by MA.
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 Hydrodynamic Damping Matrix
ʍ V’ + C(V) V + D(V) V + G = τ

Body and fin Drag:

Similar to added mass, drag is also divided into axial, crossflow, and rolling drag
forces.

• Axial drag is calculated using Hoerner’s equation

• Crossflow and rolling drag are also derived empirically from Hoerner using a method
similar to strip theory method used to calculate the added mass.

Body and fin Lift:

• It is a result of a body moving through a fluid at an angle of attack, causing a difference in

pressure between the upper and lower sections of the body.
• This pressure drop is modeled as a force concentrated at the center of pressure of18the
vehicle.
 Restoring Forces and moments
ʍ V’ + C(V) V + D(V) V + G = τ
The gravitational and buoyant forces on the vehicle cause the restoring forces.

The buoyant force also creates a moment since it is displaces from the center of
gravity by the distances: xB, yB and zB. In an underwater vehicle design, it is desirable to
locate the center of buoyancy in line with the center of gravity.
This way, the static-heel (roll angle) and trim (pitch angle) are both level (zero angles).
The gravitational and buoyancy vector, G, is defined as,

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 Equations of motion
 Combining the equation of rigid body with the equation of forces and
moments, results in 6 combined non linear equation of motion in six
degree of freedom ʍV’ =ext
 This equation can be summarized in a matrix form as the following
−1
𝑢, 𝑚 − 𝑋𝑢 ,
‫ۍ‬
0 0 0 𝑚𝑧𝑔 −𝑚𝑦𝑔
‫ې‬σ 𝑋‫ۍ‬ ‫ې‬
𝑣, ‫ ێې ۍ‬0 𝑚 − 𝑌𝑣 , 0 −𝑚𝑧𝑔 0 𝑚𝑥𝑔 − 𝑁𝑣 , ‫ۑ‬σ 𝑌‫ێ‬ ‫ۑ‬
𝑤,, ‫ ێ ۑ =ێ‬0 0 𝑚 − 𝑍𝑤 , 𝑚𝑦𝑔 −𝑚𝑥𝑔 − 𝑍𝑞 , 0 ‫ۑ‬σ 𝑍‫ێ‬ ‫ۑ‬
𝑝 ‫ۑ ێ‬0‫ێ‬ −𝑚𝑧𝑔 𝑚𝑦𝑔 𝐼𝑥𝑥 − 𝐾𝑝 , 0 0 ‫ۑ‬σ 𝐾‫ێ‬ ‫ۑ‬
𝑞 , ‫ێۑ ێ‬ ‫ێ ۑ‬ ‫ۑ‬
𝑚𝑧‫ێ‬𝑔 0 −𝑚𝑥𝑔 − 𝑀𝑤 , 0 𝐼𝑦𝑦 − 𝑀𝑞 , 0 ‫ۑ‬σ 𝑀‫ێ‬ ‫ۑ‬
𝑟 ‫ۏ‬
, ‫ے‬
−𝑚𝑦
‫ 𝑔𝑥𝑚 𝑔 ۏ‬− 𝑁𝑣 , 0 0 0 𝐼𝑧𝑧 − 𝑁𝑟 , σ‫𝑁ۏے‬ ‫ے‬

 To solve these equations, we will consider the Euler-method of numerical

approximation and to implementing it in MATLAB we use function ode45 :
𝑥𝑛+1=𝑥 𝑛 + 𝑓 ( 𝑥 𝑛 ,𝑢 𝑛 ) . ∆ 𝑡
Where = ¿ f ( x n , un )= x˙n 20
Simulation result (thrust mode)
For thrust mode ,

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For thrust mode ,

For thrust mode ,

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For thrust mode ,

For thrust mode ,

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Effect of rudder and stern angle on the displacement

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𝐟𝐨𝐫 𝛛𝐬=𝟏𝟓,𝛛 𝐫=𝟓
 

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Simulation result (Glider mode)

Ascending mode only due to buoyancy descending mode only due to buoyancy
, Xprop=0 N , Xprop=0 N

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 Conclusion
 The first phase of the project involved the full mechanical design of AUV
 In this project, we have managed to provide the dynamical model
 This model was tested through MATLAB simulations and got some good and
acceptable results.

Future work
 Our work does not stop here, the realization of vehicle should be the next step .
 A real-time communication system is required to reduce the difficulty in testing the
vehicle. The system should be able to transmit and receive data during the vehicle
testing.
 This project open the doors to a lot of challenges yet to come related to the
positioning via sonar, laser, image processing, and acoustic communication
technology, which would lay down a solid basis for us to enter the underwater
competition for the coming future years.

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𝑇𝐻𝐴𝑁𝐾 𝑌𝑂𝑈

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