Dynamics and control of towed underwater vehicle system, part II: model validation and turn maneuver optimization |
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| Authors: | C Lambert M Nahon B Buckham M Seto |
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| Institution: | a Mechanical Engineering, University of Victoria, P.O. Box 3055, Victoria, BC, Canada, V8N 6K8;b Defence Research Establishment Atlantic, P.O. Box 1012, Dartmouth, Nova Scotia, Canada, B2Y 3Z;c Mechanical Engineering, McGill University, Montreal, Quebec, Canada H3A 2K6 |
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| Abstract: | This paper presents a validation of a three-dimensional dynamics model of a towed underwater vehicle system and discusses an application of the model to improve the performance of the system during a turn maneuver. The model was validated by comparing its results to experimental sea trial data, as well as to results from another independently developed simulation. The dynamics model was then imbedded in an optimization routine. This routine was used to vary turn radii in order to improve the U-turn performance. Significant improvements were obtained relative to a standard semicircular turn geometry. |
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| Keywords: | Underwater vehicle Cable dynamics Experimental verification Optimization |
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