Nomoto indices for constant-depth zigzag manoeuvres of an autonomous underwater vehicle

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DOIResolve DOI: http://doi.org/10.5402/2013/219545
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TypeArticle
Journal titleISRN Oceanography
ISSN2090-8989
Volume2013
Article number219545
Pages18; # of pages: 8
AbstractA two-dimensional simulation code is used to study the characteristics of constant-depth zigzag manoeuvres of the axisymmetric autonomous underwater vehicle (AUV) MUN Explorer. Sea trials data for several manoeuvres with the AUV have been reported during the past four years; however, to obtain a more complete understanding of the vehicle's hydrodynamics, additional towing tank tests and computer simulation were performed. The present work, based on the towing tank test results and sea-trials data, utilizes computer simulations to predict the performance of the MUN Explorer AUV during horizontal zigzag manoeuvres. Next, the Nomoto indices for this AUV during constant-depth zigzag manoeuvres are estimated using the simulation results, and, then, Nomoto's first-order model for the rate of turn of the vehicle during horizontal zigzag manoeuvres in response to a square-wave input for the rudder deflection angle is analytically solved. The paper investigates the validity of the simplified yaw equation to predict a zigzag manoeuvre. Results of this research are a first step to understand the details of zigzag manoeuvres of an AUV such as duration of the first execute, yaw-checking ability, and duration of the overshoot.
Publication date
LanguageEnglish
AffiliationOcean, Coastal and River Engineering; National Research Council Canada
Peer reviewedYes
NRC numberOCRE-IR-2012-13
NPARC number21268593
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Record identifier93669b53-4a97-49fb-9a08-567bb828e05f
Record created2013-10-25
Record modified2016-05-09
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