Simulation of Kinematic and Dynamic Models of ITB Hybrid Autonomous Underwater Glider in MOOS-IvP Application

摘要

Hybrid Autonomous Underwater Glider (HAUG) is a vehicle with capabilities to operate in a long period and has effectiveness to maneuver in a dynamic environment. HAUG is propelled by buoyancy engine and moving-mass engine in glider mode. While in Autonomous Underwater Vehicle (AUV) mode, HAUG is propelled by thruster and the pitch and yaw is controlled by a control surface. This paper describes a mathematical hydrodynamical model of the proposed HAUG design, named as Institut Teknologi Bandung Hybrid Autonomous Underwater Glider (ITB-HAUG). The mathematical model simulated the interaction dynamic and kinematic in a dynamic environment while measuring energy consumption to evaluate the effectiveness of ITB-HAUG design. Furthermore, this paper use MOOS-IvP application as the based framework application to build and to simulate the mathematical models. The performance criterions of ITB-HAUG design are the maximum speed at 2.0 m/s in AUV mode, the maximum speed at 0.5 m/s in glider mode, and able to operate for minimum 100 hours in glider mode. The simulation result shows that the performance of the ITB-HAUG is satisfactory according to its design. This model shows a maximum horizontal speed at 2 m/s in AUV mode, a maximum surge speed at 0.503 m/s in glide mode. Moreover, in glide mode, the simulations show a stabilized pitch in 34.12° with a horizontal speed at 0.352 m/s when in descending condition, a stabilized pitch in 32.65° with a horizontal speed at 0.355 m/s when in ascending condition, and 0.61 W.h of energy consumption in one cyclic of gliding motion for 334.72 m range or in average of 135.8 operational hour with the designated battery.