In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion
of an underwater vehicle is developed. Mathematical modeling of an underwater
vehicle is done and the parameters needed to write such a simulation package are
obtained from an existing underwater vehicle available in the literature.
Basic equations of motion are developed to simulate the motion of the underwater
vehicle and the parameters needed for the hydrodynamic modeling of the vehicle is
obtained from the available literature.
6DOF simulation package prepared for the underwater vehicle was developed using
the MATLAB environment. S-function hierarchy is developed using the same
platform with C++ programming language. With the usage of S-functions the
problems related to the speed of the platform have been eliminated. The use of Sfunction
hierarchy brought out the opportunity of running the simulation package
on other independent platforms and get results for the simulation.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12608765/index.pdf |
| Date | 01 September 2007 |
| Creators | Geridonmez, Fatih |
| Contributors | Alemdaroglu, Nafiz |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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