Design of a Flat-streamlined Underwater Vehicle
Date Issued
2014
Date
2014
Author(s)
Li, Hung-Chih
Abstract
This work develops a design method of a flat-streamlined underwater vehicle. It is an usual practice using an underwater vehicle to carry sensors to observe an underwater area with a fixed depth above the relatively flat terrain. A stable platform that has stiff depth control and maneuverable plane control is necessary to carry out such missions. In order to save propulsion energy, we need the vehicle be streamlined shaped. Using the equations of motion of an underwater vehicle in the vertical and horizontal planes, the representative indicators such as maneuvering indexes, stability derivatives, diving efficiency and turning radius can be derived. A method to determine the vehicle''s shape and parameters by evaluating their performance indicators are introduced. The performance of a vehicle can also be predicted by these indicators giving their dimensions. Finally, this work demonstrates the experimental data to validate the design method by a flat-streamlined autonomous underwater vehicle.
Subjects
自主式水下載具
運動方程式
操控性穩定性
迴轉半徑
Type
thesis
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ntu-103-R00525071-1.pdf
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