In this thesis, a simulation package for the Six Degrees of Freedom
(6DOF
)
motion of an underwater vehicle is developed. Mathematical modeling of an
underwater vehicle is done and the parameters needed to write such a
simulation package are obtained from an existing underwater vehicle available in
the literature.
Basic equations of motion are developed to simulate the motion of the
underwater vehicle and the parameters needed for the hydrodynamic modeling of
the vehicle is obtained from the available literature.
6DOF simulation package prepared for the underwater vehicle was developed
using the MATLAB environment. S-function hierarchy is developed using
the same platform with C++ programming language. With the usage of Sfunctions
the problems related to the speed of the platform have been
eliminated. The use of S- function hierarchy brought out the opportunity of
running the simulation package on other independent platforms and get results
for the simulation.
Keywords: Underwater Vehicle Simulation, Virtual Reality Modeling
Language
(VRML
), MATLAB S-function, Simulink, C++, 6DOF
