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Analysis of PMM data for underwater vehicles


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Anderson, BJ 1999 , 'Analysis of PMM data for underwater vehicles', Coursework Master thesis, University of Tasmania.

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The following thesis studies techniques for determining the manoeuvring performance
of unmanned underwater vehicles (UUVs). The use of UUVs is increasing in both
commercial and military applications. These craft, which are unmanned, are controlled
and powered through an umbilical cable in the case of remotely operated vehicles; for
autonomous UUVs, they are powered and controlled from suitable on-board
Often the expense of operating UUVs over numerous scenarios and environmental
conditions restricts opportunities for developing operational use of these craft. Hence
the capability to simulate the manoeuvring performance of particular UUVs is
The development of mathematical models and software functions to simulate a
manoeuvring UUV are given in this work. The thesis also addresses the requirement of
these mathematical models for hydrodynamic coefficients that characterise a vehicle's
performance. Experimental techniques based on planar motion mechanism (PMM)
measurements for determining hydrodynamic coefficients are considered here.
The development of a horizontal planar motion mechanism (HPMM) by the Australian
Maritime Engineering Cooperative Research Centre (AME) provided the basis for an
extensive experimental program. The work reported here includes results from tests on
a 1/3rd scale model of the Royal Australian Navy's Mine Disposal Vehicle, PAP104.
The HPMM is an electromechanical device that is mounted in either a towing tank or a
circulating water channel, enabling scale models to be oscillated in a water flow.
Hydrodynamic loads are measured together with the displacement of the model,
allowing the hydrodynamic coefficients to be determined. Techniques are reviewed for the analysis of HPMM data. The Systems Identification
technique is developed into software routines that are used to determine
hydrodynamic coefficients for the 1 /3rd PAP104 model.
Experimental considerations for model testing are discussed together with the
equipment and facilities used. Recommendations are proposed for the design of the model test program, which includes commentary on frequency and blockage related
effects that occur with oscillatory testing.
A circulating water channel (CWC) was used in conjunction with the HPMM for the
continuous testing of the submerged models. An evaluation of this facility with respect
to flow quality is given together with results of the work undertaken to improve the
flow uniformity.
Validation data was provided by independent vertical planar motion mechanism tests
that were conducted on a full size PAP104 vehicle. These data show good agreement
with the results obtained from the HPMM tests conducted on the 1/3rd scale model of
the PAP104.
An error analysis was conducted on the experimental procedure and HPMM data
analysis method to determine accuracy of individual hydrodynamic coefficients. A
sensitivity analysis was also conducted using the UUV simulation to investigate the
effect of individual errors in the hydrodynamic coefficients on the navigational
accuracy of a manoeuvring UUV.

Item Type: Thesis - Coursework Master
Authors/Creators:Anderson, BJ
Keywords: Remote submersibles, Vehicles, Remotely piloted
Copyright Holders: The Author
Copyright Information:

Copyright 1999 the Author - The University is continuing to endeavour to trace the copyright
owner(s) and in the meantime this item has been reproduced here in good faith. We
would be pleased to hear from the copyright owner(s).

Additional Information:

Thesis (M.Eng.Sc.)--University of Tasmania, 1999. Includes bibliographical references

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