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In this study, virtual planar-motion-mechanism (PMM) tests in pure sway motion at constant forward speed are carried out to determine the sway added mass values of a 6:1 prolate spheroid. Added mass values are obtained by solving the Euler equations and the Reynolds Averaged Navier-Stokes (RANS) equations across a range of frequencies and depths. The effect that distance from the surface and radiation...
Conventional underwater vehicle models neglect wave excitation forces and free surface effects, since the vessel is most often deeply submerged where these effects are negligible. For near-surface operations, wave excitation forces significantly affect vessel motion. This paper focuses on depth and heading regulation for a fully actuated underwater vehicle operating in the wave-affected zone. We first...
In an effort to account for wave forcing in underwater vehicle dynamics, a model derived from Lagrangian mechanics is implemented. The model is first specialized to the case of an underwater vehicle operating in plane progressive waves. A comparison is made between the model in plane progressive waves and an exact solution derived from potential flow theory, revealing that the model accurately captures...
Hydrodynamic forces from unsteady and nonuniform flow fields are difficult to capture accurately in control-oriented dynamic models of undersea vehicles. We present an approximate dynamic model for the motion of an underwater vehicle operating below the free surface in waves. The quasi-steady model, derived from potential flow theory, treats the forces and moments generated by the wave as exogenous...
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