碩士 / 臺灣大學 / 工程科學及海洋工程學研究所 / 95 / In order to investigate the dynamic characteristics of an autonomous underwater glider, which is under developing in National Taiwan University, it’s necessary to develop a tool to simulate its maneuvering motions. In the present study, modular modeling is adapted to construct the mathematical model for the 6 degree of freedom of maneuvering motions of an AUG for the sake of easy application of existing database or empirical formula in estimating the hydrodynamic forces of elements, such as fuselage, wings, stern vertical fin and interaction among them, at preliminary design stage. It’s a similar way as MMG mathematical model to simulate ship maneuvering motions. In numerical simulation, the derived nonlinear equations of motions are linearized for obtaining the equations that governing the increment of motions at each time step, and then the solved motions increments are integrated and the coupled nonlinear motions of 6 degree of freedom are simulated. Firstly, the dynamic performances of vertical motions of the two types of underwater gliders were investigated by simulation. One type is controlled by longitudinal moving weight and buoyancy engine located fore, another type is controlled by two buoyancy engines located fore and aft but without longitudinal moving weight. Then the effects of main wing location to the dynamic performances are investigated. Finally, the coupled nonlinear motions of 6 degree of freedom controlled by rolling a transverse moving weight were simulated, and applied to investigate the effects of the locations of main wing and vertical tail fin to lateral stability and turning ability.
It was confirmed that the simulation tool developed in the present study may be used as a practical tool for designing an underwater glider in the preliminary design stage.
| Identifer | oai:union.ndltd.org:TW/095NTU05345041 |
| Date | January 2007 |
| Creators | Ming-Feng Guo, 郭名峰 |
| Contributors | 邱逢琛 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 116 |
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