TMR4225MarineOperations,

2007.01.25
Lecturecontent:
Linearsubmarine/AUVmotionequations
AUVhydrodynamics
Huginoperationalexperience

Linearmotionequations
Linearequationscanonlybeusedwhen
Thevehicleisdynamicallystableformotionsinhorisontaland
verticalplanes
Themotionisdescribedassmallperturbationsaroundastable
motion,eitherhorisontallyorvertically
Smalldeflectionsofcontrolplanes(rudders)
Foraxisymmetricbodiesthe6DOFequationscanbesplitintwo
setsof2DOFequations

Dynamicstability
Characteristicequationforlinearcoupledheavepitch
motion:
(A*D**3+B*D**2+C*D+E)=0

Dynamicstabilitycriteriais:
A>0,B>0,BCAE>0andE>0

FoundbyusingRouthsmethod

Dynamicstability(cont)
Forhorisontalmotiontheequation(2.15)canbeusedif
rollmotionisneglected
Theresultisasetoftwolineardifferentialequationswith
constantcoefficients
Transformtheseequationstoasecondorderequationfor
yawspeed
Checkiftherootsofthecharacteristicequationhave
negativerealparts
Ifso,thevehicleisdynamicallystableforhorisontal
motion
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Methodsforestimatingforces/moments
Theoreticalmodels
Potentialflow,2D/3Dmodels
Liftingline/liftingsurface
Viscousflow,NavierStokesequations

Experiments

Towingtests(resistance,controlforces,propulsion)
Obliquetowing(liftofbodyalone,bodyandrudders)
SubmergedPlanarMotionMechanism
Cavitationtunneltests(resistance,propulsion,lift)
Freeswimming

Methodsforestimatingforces/moments
Empiricalmodels
Regressionanalysisbasedonpreviousexperimentalresultsusing
AUVgeometryasvariables

SubmarineandAUVmotionequations
6degreesoffreedomequations
Timedomainformulation
Simplifiedsetsoflinearequationscanbeusedfor
stabilityinvestigations

EUCLIDSubmarineproject
MARINTEKtakespartinafouryearsmultinationalR&D
programmeontestingandsimulationofsubmarines,Euclid
NATOprojectSubmarineMotionsinConfinedWaters.
Studytopic:
Nonlinearhydrodynamiceffectsduetosteepwavesin
shallowwaterandinteractionwithnearbyboundaries.

TestingtheEUCLIDsubmarineinwaves

Modelfixedto6DOFforce
transducer
Constantspeed
Regularwaves
Submarineclosetothesurface

Numericalstudyofbowplanevortex

Streamlinesreleasedat
bowplanefor10degbow
planeangle(Illustration:
CFDnorway)
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Streamlinesreleasedat
bowplanefor10deg
bowplaneangle
(IllustrationCFDnorway)

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AUVoverview
AUVdefinition:
Atotalautonomousvehiclewhichcarriesitsownpoweranddoes
notreceivecontrolsignalsfromanoperatorduringamission

UUVdefinition:
Auntetheredpowerautonomousunderwatervehiclewhich
receivescontrolsignalsfromanoperator
HUGINisanexampleofanUUVwithanhydroacousticlink

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AUV/UUVoperationalgoals
Militarymissions
Reconnaissance
Minehunting
Minedestruction

Offshoreoilandgasrelatedmissions
Seabedinspection
Pipelineinspection

Seaspaceandseabedexplorationandmapping
Mineraldepositsonseafloor
Observationandsampling
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OffshoreoilandgasUUVscenario

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OrmenLangeseabedmappingforbestpipelinetrack
NorskHydroselectedtousetheHuginvehicle
HuginisaNorwegiandesignedandmanufacturedvehicle
Waterdepthupto800meters
Roughseafloor,peaksare3040meterhigh
HeightcontrolsystemdevelopedforHugintoensure
qualityofacousticdata

PhasesofanAUV/UUVmission

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Prelaunch
Launching
Penetrationofwavesurface(splashzone)
Transittoworkspace
Enteringworkspace,hominginonworktask
Completingworktask
Leavingworkspace
Transittosurface/Movingtonextworkspace
Penetrationofsurface
Hookup,lifting,securingondeck

HuginUUV

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AUVTheoreticalmodels
Potentialtheory
Deeplysubmerged,striptheory
VEREScanbeusedtocalculate
Heaveandswayaddedmass
Pitchandyawaddedmomentofinertia
VEREScannotbeusedtocalculate
Surgeaddedmass
Rolladdedmomentofinertia

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AUVTheoreticalmodels

Viscousmodels

SolvingtheNavierStokesequations
SmallReynoldsnumbers(<1000):DNS
MediumReynoldsnumbers(<10**5):LESLargeEddySimulation
HighReynoldsnumbers(>10**5):RANSReynoldsAverage
NavierStokes

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AUVTheoreticalmodels
3DpotentialtheoryforzerospeedWAMIT
Alladdedmasscoefficients
Alladdedmomentofinertiacoefficients
Lineardampingcoefficientduetowavegeneration
Importantformotionclosetothefreesurface

MoreWAMITinformation
http://www.wamit.com

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NTNU/MarineTechnologyavailable
tools:
2commercialcodes
Fluent
CFX

InhouseresearchtoolsofLESandRANStype
Moreinfo:ContactProf.BjrnarPettersen

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AUVExperimentaltechniques
Submergedresistanceandpropulsiontests
Towingtank
Cavitationtunnel

SubmergedPlanarMotionMechanismtests
Towingtank

Obliquetowingtest
Towingtank

Liftanddragtest,bodyandcontrolplanes
Cavitationtunnel

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AUVExperimentaltechniques
Freesailingtests

Towingtank
Oceanbasin
Lakes
Coastalwaters

Freeoscillationtests/ascendingtest
Waterpool/Divertrainingpool

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HUGINhistory
AUVdemo(19923)
Diameter:0.766mLength:3.62/4.29m
Displacement:1.00m**3

HUGINI&II(19956)
Diameter:0.80mLength:4.8m
Displacement:1.25m**3

HUGIN3000C&Cand3000CG(19992003)
Diameter:1.00mLength:5.3m
Displacement:2.43m**3

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NTNU/MARINTEKHUGIN
involvement
AUVdemo(19923)
Modeltestincavitationtunnel,openandclosedmodel,2tail
sections(w/wocontrolplanes)
Resistance,U={3,10}m/s
Lineardampingcoefficientsforsway,yaw,heaveandpitch,yaw/trim
angles{10,10}degrees

3Dpotentialflowcalculation
Addedmassaddedmomentofintertia

Changesindampingandcontrolforcesduetomodificationof
rudders
Studentprojectthesis
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NTNU/MARINTEKHUGIN
involvement
HUGIN3000
Resistancetests,w/wosensors
Modelscale1:4
Maxmodelspeed11.5m/s
Equivalentfullscalespeed?

Findings
Smoothmodelhadaslightlyreduceddragcoefficientforincreasing
Reynoldsnumber
Modelwithsensorshadaslightlyincreaseddragcoefficientfor
increasingReynoldsnumbers
Sensormodelhadsome30%increasedresistance

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HUGINinformation
Newvesselshavebeenorderedlate2004and2005
Onedeliverywillbequalifiedforworkingto4500mwaterdepth

Newinstrumentationisbeingdevelopedforuseasatool
formeasuringbiomassinthewatercolumn
MinecounterversionHUGIN1000hasbeentestedby
RoyalNorwegianNavy
MoreHugininformation:seeKongsberghomepagefor
link
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HUGINfieldexperience
Offshorequalificationseatrials(1997)
sgardGasTransportPipelineroutesurvey(1997)
Pipelinepreengineeringsurvey(subseacondensate
pipelinebetweenshorebasedprocessplantsatStureand
Mongstad)(1998)
Environmentalmonitoringcoralreefsurvey(1998)
Fisheryresearchreducingnoiselevelfromsurveytools
(1999)

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HUGINfieldexperience

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Minecountermeasuresresearch(19989)
OrmenLangepipelineroutesurvey(2000)
GulfofMexico,deepwaterpipelineroutesurvey(2001>)
Raven,WestNileDelta,Egypt,areaof1000km**2was
surveyedlate2005byFugroSurvey
Sitesforsubseafacilities
Routeselectionforflowlines,pipelines&umbilicals
Detectanddelineateallgeohazardsthatmayhaveanimpacton
facilitiesinstalletionorwelldrilling
Surveyareawaterdepth:161089m(AUVusedforH>75m)
Linespacingof150mandorthogonaltielinesat1000mintervals
LinekilometerssurveyedbyAUV:6750km
Distancetoseabed(Flyingheight):3035m
Operationalspeed:3.6knots

Fugrosurveypictures

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http://www.fugrosurvey.co.uk/

ActualHUGINproblems
Inspectionandinterventiontasks
Addingthrusterstoincreaselowspeedmanoeuvrabilityfor
sinspectionandinterventiontasks
Types,positions,controlalgorithms

Stabilizingthevehicleorientationbyuseofspinningwheels
(gyros)
Reducetheneedforthrustersandpowerconsumptionforthesetypes
oftasks

Dockingonasubseainstallation
Guideposts
Activedockingdevicesonsubseastructure(roboticarmasonspace
shuttleforcaptureofsatelittes)
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ActualHUGINproblems
RollstabilizationofHUGIN1000
Lowmetacentricheight
4independentrudders
PItyperegulatorwithlowgain,decoupledfromotherregulators(heave
pitchdepth,swayyaw,surge)
Task:Keeprollanglesmall(>0)byactivecontrolofthefour
independentrudders
Reducetheneedforthrustersandpowerconsumptionforthesetypesoftasks

Dockingonasubseainstallation
Guideposts
Activedockingdevicesonsubseastructure(roboticarmasonspaceshuttle
forcaptureofsatelittes)

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Futuresystemdesignrequirements
Launching/pickupoperationsuptoHs=5mwhenshipis
advancingat34knotsinheadseas
Increasingwaterdepthcapability
Increasedpowercapability
Operationalspeed34.5knots
Missionlength34days

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Hugindeploymentvideo
VideocanbedownloadedfromKongsberg
homepage

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