ウォータージェット型水中ビークルの運動性能

抄録

This paper addresses the dynamics model of an underwater vehicle with a water-jet propulsion system. Our aim is to develop the vehicle for the use of oceanographic survey, fisheries and ocean exploration. Hydrodynamic forces acting on the vehicle with 4 fins are determined for -90.0〜90.0 degrees of attack angle and -2.0〜2.0 of non-dimensional rate of turn including conventional towing tank test such as Oblique towing test and Circular motion test.In addition, in order to characterize the effects of vehicle motion on water-jet forces, experiments to measure the side force and yaw moment produced by water-jet units have been made. A water-jet model is also incorporated into the simulation. The model is used to simulate the vehicle. The authors use the simulation as a predictive design tool to evaluate and compare the performance of the vehicle before it has been fully developed.