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Sensitivity of AUV response to variations in hydrodynamic parameters |
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| Authors: | Doug Perrault Neil Bose Siu O&#x;Young Christopher D Williams |
| Institution: | a Ocean Engineering Research Centre, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5;b Centre for Instrumentation, Controls, and Automation, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5;c National Research Council Canada, Institute for Marine Dynamics, Box 12093, Postal Station A, St. John’s, NF, Canada A1B 3T5 |
| Abstract: | The sensitivity of the response of a typical AUV to changes in hydrodynamic parameters is examined. The analysis is primarily performed using a computer model of an axi-symmetric vehicle typical of many AUVs in service today. The vehicle used is the Canadian Self-Contained Off-the-shelf Underwater Testbed (C-SCOUT), designed and built by graduate and work term students. The fully nonlinear computer model is based on Newton–Euler equations of motion, and uses the component build-up method to describe the excitation forces. The hydrodynamic parameters are varied in a series of simulations with the computer model; the response being analyzed for specific performance indicators. |
| Keywords: | Autonomous underwater vehicles C-SCOUT Added mass Lift Drag Center of effort Center of pressure Vehicle response Turning circles Zigzag maneuvers Sensitivity Numerical study |
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