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

A theoretical approach to facilitating transition phase motion in a positively buoyant autonomous underwater vehicle
A theoretical approach to facilitating transition phase motion in a positively buoyant autonomous underwater vehicle
Positively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that is
maintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract the
excess buoyancy. To facilitate lower forward speeds and the ability to hover requires some additional method of
control. This paper reviews possible options and then indicates how control can be achieved using a single or pair of
through-body tunnel thrusters. New equations appropriate to AUVs are proposed and experimental results are used to
estimate the equation parameters. These equations are used within a simulation of the Autosub AUV to determine the
response of the AUV during the transition between survey and low speed operation. The results obtained from the
simulations are analysed in terms of the performance of the AUV and the demanded energy levels to assess the
feasibility of using tunnel thrusters as a low speed control device.
1740-0694
Palmer, A.
290ccfb9-1f97-481a-ab39-d5d6ae5383e6
Hearn, Grant E.
c1b2912b-fe5c-432c-aaa4-39c5eff75178
Stevenson, Peter
5e0b96d1-1429-4010-a493-ea23a849f46d
Palmer, A.
290ccfb9-1f97-481a-ab39-d5d6ae5383e6
Hearn, Grant E.
c1b2912b-fe5c-432c-aaa4-39c5eff75178
Stevenson, Peter
5e0b96d1-1429-4010-a493-ea23a849f46d

Palmer, A., Hearn, Grant E. and Stevenson, Peter (2009) A theoretical approach to facilitating transition phase motion in a positively buoyant autonomous underwater vehicle. International Journal of Small Craft Technology, 151, part A-3.

Record type: Article

Abstract

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

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More information

Published date: July 2009
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 154953
URI: http://eprints.soton.ac.uk/id/eprint/154953
ISSN: 1740-0694
PURE UUID: 82d228eb-fe7f-41d9-b567-12afabc07a60

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Date deposited: 26 May 2010 14:44
Last modified: 08 Jan 2022 05:32

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Contributors

Author: A. Palmer
Author: Grant E. Hearn
Author: Peter Stevenson

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