Browsing by Author "Battista, Thomas Andrew"

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    Lagrangian Mechanics Modeling of Free Surface-Affected Marine Craft
    Battista, Thomas Andrew (Virginia Tech, 2018-04-26)
    Although ships have been used for thousands of years, modeling the dynamics of marine craft has historically been restricted by the complex nature of the hydrodynamics. The principal challenge is that the vehicle motion is coupled to the ambient fluid motion, effectively requiring one to solve an infinite dimensional set of equations to predict the hydrodynamic forces and moments acting on a marine vehicle. Additional challenges arise in parametric modeling, where one approximates the fluid behavior using reduced-order ordinary differential equations. Parametric models are typically required for model-based state estimation and feedback control design, while also supporting other applications including vehicle design and submarine operator training. In this dissertation, Lagrangian mechanics is used to derive nonlinear, parametric motion models for marine craft operating in the presence of a free surface. In Lagrangian mechanics, one constructs the equations of motion for a dynamic system using a system Lagrangian, a scalar energy-like function canonically defined as the system kinetic energy minus the system potential energies. The Lagrangian functions are identified under ideal flow assumptions and are used to derive two sets of equations. The first set of equations neglects hydrodynamic forces due to exogenous fluid motions and may be interpreted as a nonlinear calm water maneuvering model. The second set of equations incorporates effects due to exogenous fluid motion, and may be interpreted as a nonlinear, unified maneuvering and seakeeping model. Having identified the state- and time-dependent model parameters, one may use these models to rapidly simulate surface-affected marine craft maneuvers, enabling model-based control design and state estimation algorithms.
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    Nonlinear Free Surface and Viscous Effects on Underwater Vehicle Maneuvering and Seakeeping
    Lambert, William B. (Virginia Tech, 2024-01-10)
    The accurate prediction of forces and motions on autonomous underwater vehicles (AUVs) operating close to the wavy free surface is imperative to their usefulness as oceanic research and warfare craft. Maneuvering models for underwater vessels are typically constrained to deep water motions where surface effects are negligible; however, a number of modeling assumptions that are applicable for deep water motions become invalid when the vessel is in proximity to the air-water interface. This dissertation investigates several aspects for the inclusion of free surface effects in maneuvering predictions of a shallowly submerged underwater vehicle. A lumped parameter maneuvering model for deeply submerged motion is improved to accommodate depth dependent effects by updating hydrodynamic derivatives using strip theory and boundary element method analysis. This new model can predict near-surface maneuvering motions of an AUV operating in calm or wavy waters. Alternative free surface affected motion predictions are offered by the Lagrangian Nonlinear Maneuvering and Seakeeping (LNMS) model, which provides motion predictions of a vehicle under waves using calculations from first principle energy considerations. While both models provide their own approach to shallowly submerged vehicle motion predictions, each model suffers from its own limiting hydrodynamic modeling assumptions such as linearized free surface boundary conditions, potential flow assumptions, and slowly varying motions. An investigation into the errors from these simplifying assumptions, including under prediction of the steady-state wave making forces and neglect of viscous effects, led to the creation of an innovative impulse motion model for the calculation of hydrodynamic parameters reducing the need for simplifying assumptions. The significant, novel contributions to near-surface AUV maneuvering research provided in this dissertation are listed below: 1. Creation of a free-surface affected lumped parameter maneuvering and seakeeping model using depth corrected hydrodynamic parameters from strip theory and boundary element method analysis 2. Investigation into the errors associated with linearized free surface boundary conditions and potential flow assumptions during the prediction of near-surface steady-state motions 3. Development of an impulse motion simulation procedure using 3D Unsteady Reynolds- Averaged Navier-Stokes Equation (URANSE) solvers to calculate the infinite frequency hydrodynamic added mass of a shallowly submerged underwater vehicle from rest and constant forward speed