엄빌리컬 케이블의 영향을 받는 UV의 운동에 관한 연구

Abstract

This thesis presents a series of analyses on the behavior of the underwater vehicle (UV) including the umbilical cable (UC) effect. The mathematical model for hydrodynamics of UV including the coupled effect of the UC is proposed. The corresponding hydrodynamic coefficients on the UV are obtained from experiments or referring related papers. With relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is used to analyze motion of the UV and the dynamic configuration of the UC. The modeling performed of the UC is using the two-end boundary-value problem and it is solved by using the multi-step shooting method. Simulations on the UV including forward moving, backward, ascending, descending, sideward moving and turning motions were performed for the UC and without UC effect. The developed hydrodynamic model may serve as a useful tool to improve the performance of the UV operated with the effects of UC. The effect of currents to the UC is also taken into consideration. The present results reveal that the UC significantly affects the motion of the UV and should not be neglected in the simulation.