Type of Document Master's Thesis Author Linklater, Amy Catherine Author's Email Address firstname.lastname@example.org URN etd-06172005-114444 Title Design and Simulation of a Towed Underwater Vehicle Degree Master of Science Department Aerospace and Ocean Engineering Advisory Committee
Advisor Name Title Woolsey, Craig A. Committee Chair McCue-Weil, Leigh S. Committee Member Neu, Wayne L. Committee Member Keywords
- Dynamic Modeling
- Underwater Vehicle
- Towed Vehicle
Date of Defense 2005-06-03 Availability unrestricted AbstractOceanographers are currently investigating small-scale ocean turbulence to understand how to better model the ocean. To measure ocean turbulence, one must measure fluid velocity with great precision. The three components of velocity can be used to compute the turbulent kinetic energy dissipation rate. Fluid velocity can be measured using a five-beam acoustic Doppler current profiler (VADCP). The VADCP needs to maintain a tilt-free attitude so the turbulent kinetic energy dissipation rate can be accurately computed to observe small-scale ocean turbulence in a vertical column.
To provide attitude stability, the sensor may be towed behind a research vessel, with a depressor fixed somewhere along the length of the towing cable. This type of setup is known as a two-part towing arrangement.
This thesis examines the dynamics, stability and control of the two-part tow. A Simulink simulation that models the towfish dynamics was implemented. Through this Simulink simulation a parametric study was conducted to see the effects of sea state, towing speed, center of gravity position, and a PID controller on the towfish dynamics. A detailed static analysis of the towing cable’s effects on the towfish enhanced this dynamic model. The thesis also describes vehicle design and fabrication, including procedures for trimming and ballasting the towfish.
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