Dynamic modeling and performance analysis of an autonomous underwater vehicle

摘要

This paper mainly deals with the maneuverability capabilities of the propeller-fin-driven underwater vehicle. The nonlinear dynamic model is firstly set up, numerical simulations of kinematic behaviors in the horizontal plane, vertical plane and three-dimensional space are performed respectively to verify the nonlinear dynamic model. Then, Z-shaped steering method with a positive and identical negative fin angle is also applied to detect the maneuverability of underwater vehicle. Finally simulation results demonstrate that the nonlinear dynamic modeling and decoupling methods achieve better maneuverability and steering performance of the underwater vehicle.