Investigation of Hydrodynamic Derivatives of an AUV Based on the Water Tunnel Testing Maneuvers

Coefficients or hydrodynamic derivatives of autonomous underwater vehicles play a key role in their development. The most popular way for the estimation of coefficient is to implement captive model tests such as straight line tests and planar motion mechanism tests in towing tanks. In this paper, investigation of hydrodynamic derivatives was performed based on the water tunnel maneuvers. Forces and moments are measured by a six-component strain gauge balance. The developed apparatus was used for performing the planar motion mechanism tests of the water tunnel. By conducting such tests in a water tunnel, the appropriate range of parameters to estimate the hydrodynamic derivatives was provided. Also, by doing such tests in water tunnel, errors related to the time limitation of tests and the effects of surface waves in towing tank of autonomous underwater vehicles, applied in deep seas, are eliminated.