This thesis describes the creation of a dynamics model of an autonomous underwater vehicle. Motion equations are integrated to obtain the position and velocity of the vehicle. External forces acting on the vehicle, such as hull and control plane hydrodynamic forces, are predicted for the full 360° angle of attack range. This enables the simulation of high angle of attack situations. An accurate through-body thruster model is also incorporated into the simulation. The vehicle model is validated using experimental turning diameters of the ARCS vehicle.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.19581 |
| Date | January 2003 |
| Creators | Evans, Jason P. |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Mechanical Engineering) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 002022445, Theses scanned by McGill Library. |
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