Detailed Information
Metadata Downloads
엄빌리컬 케이블의 영향을 받는 UV의 운동에 관한 연구
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | MAITHEVU | - |
| dc.date.accessioned | 2017-02-22T06:41:54Z | - |
| dc.date.available | 2017-02-22T06:41:54Z | - |
| dc.date.issued | 2015 | - |
| dc.date.submitted | 57071-01-11 | - |
| dc.identifier.uri | http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002175456 | ko_KR |
| dc.identifier.uri | http://repository.kmou.ac.kr/handle/2014.oak/9681 | - |
| dc.description.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. | - |
| dc.description.tableofcontents | Acknowledgement 1 Abstract 2 Contents 3 Nomenclature 6 List of Tables 9 List of Figures 10 Chapter 1 Introduction 14 1.1 Underwater vehicle 14 1.1.1 Autonomous Underwater Vehicles 15 1.1.2 Remote Operated Underwater Vehicles 16 1.2 Applications of Underwater Vehicles 17 1.3 Motivation and Contributions 18 Chapter 2 General Structure and Dynamics of UV System 20 2.1 UV Coordinate System 20 2.2 Factors Affecting an Underwater Vehicle Dynamics 21 2.2.1 Buoyancy 21 2.2.2 Hydrodynamic Damping 21 2.2.3 Stability 22 2.2.4 Coriolis 23 2.2.5 Added Mass 24 2.2.6 Environmental Forces 24 2.2.7 Pressure 24 2.3 General Design of an UV 24 2.3.1 Hull Design 24 2.3.2 Propulsion 25 2.3.3 Submerging 26 2.3.4 Electric Power 26 Chapter 3 Mathematical Model of UV 27 3.1 General Structures and Parameters of UV 27 3.2 Basic Assumptions 30 3.3 UV Kinematics 31 3.3.1 Coordinate Frames 31 3.3.2 Attitude and Euler Angles 33 3.3.3 State Space Representation of the UV 34 3.3.4 Velocity Transformation 35 3.4 UV Dynamic 36 3.4.1 Mass and Inertia Matrix 36 3.4.2 Coriolis and Centripetal Matrix 37 3.4.3 Hydrodynamic Damping Matrix 38 3.4.4 Gravitational and Buoyancy Vector 39 3.4.5 Forces and Torques Vector 40 3.4.6 Umbilical Cable Forces 40 3.5 Simplification of UV Dynamic Model 40 3.5.1 Simplifying the Mass and Inertia Matrix 41 3.5.2 Simplifying the Hydrodynamic Damping Matrix 42 3.5.3 Simplifying the Gravitational and Buoyancy Vector 43 3.6 Thruster Modeling 43 3.7 Equations of Motion 47 Chapter 4 Mathematical Model of Umbilical Cable 49 4.1 General Structure of Umbilical Cable 49 4.2 Basic Assumptions 50 4.3 Cable Modeling Approaches 50 4.4 Three Coordinate Systems 52 4.5 Forces Acting on the Cable 54 4.5.1 Weight and Buoyancy Forces 54 4.5.2 Fluid Hydrodynamic Forces 55 4.5.3 Tension Force 56 4.6 Dynamic Equations of Cable 56 4.6.1 Catenary Equations 56 4.6.2 Static Catenary Analysis 57 4.7 Solution of the Catenary in the 3-D Case 59 4.8 Spatial Variation in the Distributed Load 64 4.9 Boundary Conditions 65 4.10 Cable Effect 66 4.11 Results Simulations of Umbilical Cable 67 Chapter 5 Simulation and Discussion 71 5.1 Forward Motion 73 5.2 Backward Motion 78 5.3 Sideward Motion 82 5.4 Ascending Motion 86 5.5 Descending Motion 90 5.6 Turning Motion 94 Chapter 6 Conclusions 99 References 100 | - |
| dc.language | eng | - |
| dc.publisher | 한국해양대학교 대학원 | - |
| dc.title | 엄빌리컬 케이블의 영향을 받는 UV의 운동에 관한 연구 | - |
| dc.title.alternative | A Study on the Motions of Underwater Vehicle (UV) with the Umbilical Cable Effect | - |
| dc.type | Thesis | - |
| dc.date.awarded | 2015-08 | - |
| dc.contributor.alternativeName | MAI THE VU | - |
- Files in This Item:
- 000002175456.pdf Download
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.