Parameter Identification on the Surge Equation of an Underwater Vehicle

This thesis uses the system identification techniques to measure the submarine’s resistance and propulsive forces using a submarine vehicle which is built in our lab. From several simple trials in a water tank, the data were analyzed with a Least Squares method so that values of the resistance coefficient, thrust deduction, wake fraction, propeller thrust could be measured. The identification procedure predicts those coefficients in a reasonable manner. Experimental results have shown that an on-line method of coefficient measurement using a free running vehicle is possible.Abstract I Table of Contents II List of Figures IV List of Table VI List of Symbols VII Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature review 3 1.3 Thesis Organization 4 Chapter 2 Submarine’s Motion Equation 5 2.1 Coordinate systems 6 2.2 Surge equation of the submarine 7 Chapter 3 Hydrodynamic Coefficients Identification 12 3.1 Identification of 12 3.2 Estimation of parameters 14 3.3 Filter design for surge speed estimation 14 Chapter 4 Submarine Vehicle Design 17 4.1 The submarine body 17 4.1.1 Outer hull 17 4.1.2 Tail section 18 4.1.3 Body section 19 4.1.4 Head section 24 4.2 General arrangement 25 Chapter 5 Experiments 27 5.1 Basic parameters of the submarine vehicle 28 5.2 Identification of 30 Chapter 6 Conclusions 43 Appendix 44 References 4