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A theoretical approach to facilitating transition phase motion in a positively buoyant autonomous underwater vehicle

By A. Palmer, Grant E. Hearn and Peter Stevenson

Abstract

Positively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that is<br/>maintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract the<br/>excess buoyancy. To facilitate lower forward speeds and the ability to hover requires some additional method of<br/>control. This paper reviews possible options and then indicates how control can be achieved using a single or pair of<br/>through-body tunnel thrusters. New equations appropriate to AUVs are proposed and experimental results are used to<br/>estimate the equation parameters. These equations are used within a simulation of the Autosub AUV to determine the<br/>response of the AUV during the transition between survey and low speed operation. The results obtained from the<br/>simulations are analysed in terms of the performance of the AUV and the demanded energy levels to assess the<br/>feasibility of using tunnel thrusters as a low speed control device

Topics: T1
Year: 2009
DOI identifier: 10.3940/rina.ijme.2009.a3.151
OAI identifier: oai:eprints.soton.ac.uk:154953
Provided by: e-Prints Soton
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