Parametric study for the steady-state equilibrium of a Towfish

Author

Cammarata, Alessandro ; Sinatra, Rosario

Author_Institution

Dept. of Ind. Eng., Univ. of Catania, Catania, Italy

fYear

2014

fDate

10-12 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

The dynamic equilibrium in steady-state conditions is of outmost importance for the right working of an underwater vehicle. The paper aims to investigate what parameters mainly influence dynamics in order to maintain a given horizontal attitude at a desired depth. Some simplifications as constant speed of the boat, negligible inertial effects of the towline are introduced in order to study the dynamics after the transitory phase. Flexible cable modelling and hydrodynamic forces are coupled to rigid body dynamics to create a model able to determine the conditions necessary to maintain a horizontal orientation at a desired depth. A GUI interface to help designers to predispose different strategies and to analyse dynamics when some relevant parameters are varied is finally developed.

Keywords

autonomous underwater vehicles; cables (mechanical); design engineering; graphical user interfaces; hydrodynamics; mechanical engineering computing; vehicle dynamics; GUI interface; boats; design; flexible cable modelling; hydrodynamic forces; rigid body dynamics; towfish; towline; underwater vehicle dynamics; Force; Graphical user interfaces; Hydrodynamics; Mathematical model; Power cables; Underwater cables; Vehicles; CFD analysis; cable model; towfish;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on

Conference_Location

Senigallia

Print_ISBN

978-1-4799-2772-2

Type

conf

DOI

10.1109/MESA.2014.6935607

Filename

6935607