ETD

• co-simulation
• dynamic modeling
• matlab/simulink
• underwater robotics
• underwater vehicles

Conducting experimental test campaigns in marine environments for underwater vehicles involves significant economic and logistical challenges. To mitigate these costs, it is essential to optimize the design phase through the integration of various technological tools, ranging from 3D CAD geometric modeling to testing on scale prototypes. Within this context, the development of a vehicle dynamics simulator, the primary focus of this thesis, plays a crucial role. A dynamic simulator enables the design and tuning of control architectures, the validation of mechanical solutions, and the analysis of the vehicle's behavior when subjected to external disturbances.
Throughout this work, the dynamic simulator of the Submersible DS8 is presented. The equations of motion and actuator models were implemented within the MATLAB and Simulink environments, incorporating accurate modeling of environmental forces such as currents and waves. Finally, the dynamics were integrated with the Unreal Engine graphics environment to provide a photorealistic and immersive 3D visualization of the simulation.