The accurate prediction of forces and motions on autonomous underwater vehicles (AUVs) operating close to the wavy free surface is imperative to their usefulness as oceanic research and warfare craft. Maneuvering models for underwater vessels are typically constrained to deep water motions where surface effects are negligible; however, a number of modeling assumptions that are applicable for deep water motions become invalid when the vessel is in proximity to the air-water interface. This dissertation investigates several aspects for the inclusion of free surface effects in maneuvering predictions of a shallowly submerged underwater vehicle. A lumped parameter maneuvering model for deeply submerged motion is improved to accommodate depth dependent effects by updating hydrodynamic derivatives using strip theory and boundary element method analysis. This new model can predict near-surface maneuvering motions of an AUV operating in calm or wavy waters. Alternative free surface affected motion predictions are offered by the Lagrangian Nonlinear Maneuvering and Seakeeping (LNMS) model, which provides motion predictions of a vehicle under waves using calculations from first principle energy considerations. While both models provide their own approach to shallowly submerged vehicle motion predictions, each model suffers from its own limiting hydrodynamic modeling assumptions such as linearized free surface boundary conditions, potential flow assumptions, and slowly varying motions. An investigation into the errors from these simplifying assumptions, including under prediction of the steady-state wave making forces and neglect of viscous effects, led to the creation of an innovative impulse motion model for the calculation of hydrodynamic parameters reducing the need for simplifying assumptions. The significant, novel contributions to near-surface AUV maneuvering research provided in this dissertation are listed below:
1. Creation of a free-surface affected lumped parameter maneuvering and seakeeping model using depth corrected hydrodynamic parameters from strip theory and boundary element method analysis 2. Investigation into the errors associated with linearized free surface boundary conditions and potential flow assumptions during the prediction of near-surface steady-state motions 3. Development of an impulse motion simulation procedure using 3D Unsteady Reynolds- Averaged Navier-Stokes Equation (URANSE) solvers to calculate the infinite frequency hydrodynamic added mass of a shallowly submerged underwater vehicle from rest and constant forward speed / Doctor of Philosophy / Autonomous underwater vehicles (AUVS) are an increasingly used tool in the exploration, defense, and study of our oceans and seaways. An essential aspect for the creation of various AUV systems is the accurate prediction of forces and motions while operating in a variety of different conditions, including near the wavy water surface. Maneuvering models that predict the motions of underwater vehicles often opt for deep water simplifying assumptions where the free surface has no effect; however, these assumptions aren't always valid. This dissertation looks to better understand the effects that a free surface has on AUV motion predictions and how these effects can be captured, understood, and incorporated within different maneuvering models. This goal is achieved by updating a previously constructed deep water maneuvering model to account for proximity to the free surface as well as exploring new methods that calculate the hydrodynamic parameters of a vehicle operating at these depths. With these findings, AUVs will be better informed to move as intended while operating in important combat and research zones of the ocean.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/117333 |
| Date | 10 January 2024 |
| Creators | Lambert, William B. |
| Contributors | Aerospace and Ocean Engineering, Brizzolara, Stefano, Paterson, Eric G., Woolsey, Craig A., Battista, Thomas Andrew |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Dissertation |
| Format | ETD, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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