This thesis presents the development of a six degree of freedom nonlinear dynamic model for a single-mast fully submerged hydrofoil vehicle. The aim of the model is to aid in evaluating various model-based controllers for autonomous operation by simulating their performance before implementation in the field. Initially, first principles approach is employed to develop an approximate dynamic model of the vehicle. Prediction of the vehicle motion using the first principles model is then compared with the data from the tow tank experiments to assess the accuracy of the assumptions made in estimating the hydrofoil performance. Additionally, the dynamic model is adjusted to reflect the measured hydrodynamic forces in the tow tank tests. Utilizing the modified dynamic model to simulate the vehicle motion, an initial height controller is designed and tuned in field trials until stable foiling state was achieved. We evaluate the field results and discuss the limitation of employing steady-state tow tank data in establishing the vehicle dynamic model. / Master of Science / This thesis presents the development of a model describing the motion of a hydrofoil vehicle. The craft uses hydrofoils which act like conventional airplane wings that work in water instead of air to lift the hull fully out of the water. In order to maintain a set height above the water and direction of travel, the vehicle needs some form of a controller for autonomous operation. The purpose of the vehicle model is to aid in development of these controllers by simulating and evaluating their performance before implementation in the field. Initially, forces acting on the vehicle are approximated using fundamental hydrodynamic theory. The theoretical model is then compared with experimental data to assist in characterization of the hydrofoils. Building upon the measured test data, we create a preliminary height controller in simulation and conduct field trials to achieve stable foiling state.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/119331 |
| Date | 06 June 2024 |
| Creators | Moon, Heejip |
| Contributors | Electrical Engineering, Stilwell, Daniel J., Doan, Thinh Thanh, Brizzolara, Stefano |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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