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Dissertation
Development and validation of hydrodynamic model for near free surface maneuvers of BB2 Joubert generic submarine
University of Iowa
Doctor of Philosophy (PhD), University of Iowa
Spring 2021
DOI: 10.17077/etd.005772
Abstract
The stability and maneuverability of underwater vehicles is still challenging today due to their nature as neutrally buoyant, slender bodies mainly designed to move efficiently forward. The maneuvering stability of a submarine requires properly designed control surfaces and controllers, but even a submarine with well-designed controllers for normal operating conditions may experience failure when operating below their design speed, or subject to disturbances from the interaction with nearby interfaces (the free surface or the bottom of the sea). Therefore, developing controllers capable of near-free surface operation is of great importance to prevent unintended surfacing or diving that could expose the vehicle to damage or detection. Difficulties controlling underwater vehicles increase as the speed decreases due to loss of control surface authority.This thesis focuses on the development of a reduced order hydrodynamic model of a submarine capable of simulation of near surface maneuvers, which is fast enough to be used for development of controllers. While the study focuses on the generic submarine Joubert BB2, the procedures are general and could be applied to other underwater craft, including submarines, autonomous and unmanned underwater vehicles. The implemented model solves the equations of rigid body motion subject to inertial forces and hydrodynamic loadings modeled as derivatives of Taylor series expansions obtained from steady and unsteady computational fluid dynamics (CFD) simulations and experimental data. The waves are implemented through a one-way coupling approach where the pressure and virtual mass forces induced by the waves are computed from unperturbed superposition of exact solutions for a given spectrum.
The hydrodynamic model of the Joubert BB2 submarine was derived from the original Gertler and Hagen model (Gertler and Hagen 1967) for a cruciform stern plane arrangement. The loading terms due to hull angle of attack and control surface performance correction terms due to in-plane rotations were modified to develop a more concise formulation. A set of numerical captive model simulations were designed to obtain the acceleration-based added mass terms that are added to the external loading terms separately. The free surface effects on derivatives were modeled by parameterizing hydrodynamic coefficients with depth.
The model is implemented in the commercial software MATLAB SIMULINK to solve the equations of motion implicitly. The hydrodynamic model was validated using model test results from MARIN in Netherlands and CFD simulations, using the original Proportional-Integral-Differential (PID) controller used in the CFD simulations and the experiments.
Details
- Title: Subtitle
- Development and validation of hydrodynamic model for near free surface maneuvers of BB2 Joubert generic submarine
- Creators
- Yagin Kim
- Contributors
- Pablo M Carrica (Advisor)Juan E Martin (Advisor)James H.J. Buchholz (Committee Member)Casey M Harwood (Committee Member)Venanzio Cichella (Committee Member)
- Resource Type
- Dissertation
- Degree Awarded
- Doctor of Philosophy (PhD), University of Iowa
- Degree in
- Mechanical Engineering
- Date degree season
- Spring 2021
- Publisher
- University of Iowa
- DOI
- 10.17077/etd.005772
- Number of pages
- xiv, 104 pages
- Copyright
- Copyright 2021 Yagin Kim
- Language
- English
- Description illustrations
- color illustrations
- Description bibliographic
- Includes bibliographical references (pages 93-98)
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984097367102771
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