Study on manoeuverability and control of an autonomous Wave Adaptive Modular Vessel (WAM-V) for ocean observation

Abstract

In this paper, we are proposing the use of a catamaran equipped with standard navigational sensors as an autonomous surface vehicle for in situ measurement of oceanographic data or as a complimentary observing system. In this research, we mainly focus on the maneuverability of the Wave Adaptive Modular Vessel (WAM-V). The WAM-V must have ability to cruise on the water with a robust propulsion system which determines its propulsion capability and maneuverability. Firstly, the paper describes the configuration of WAM-V. Secondly the paper deals with mathematical modeling, which describes well physics based dynamics of WAM-V. Demand for WAM-V catamaran is justified to a point for improved manoeuverability and because the motion of the boat is affected by hydrodynamics, so many hydrodynamic parameters including resistance force for Mono hull and twin hull are estimated by towing tank experiment. It is observed from the experiments that at higher velocity (Froud Number (fn) > 0.3) due to interference between the two hulls the hydrodynamic derivatives do not remain same as in the case of a single hull. With the help of the geometrical shape of WAM-V the design ratios are calculated. The Matlab simulation is intended to analyze the different parameters for the effect of changing the propeller revolution which replaces the rudder action. Finally, the paper delineates the simulation results for PID tracking control of WAM-V using the Nomoto's response model.