Modeling and Maneuverability Simulation for Vertical Plane of Autonomous Underwater Vehicle in Current

摘要

As the large diving depth Autonomous underwater vehicle (AUV) developed, modeling and maneuverability simulation for AUV in vertical plane under current disturbance are increasingly important. The REMUS model is adopted to build the mathematical model of AUV. The observation data of the current in South China Sea are analysed to build the current model varied with depth, then the relative motion method is adopted to build the model of AUV in current. The simulation system of maneuverability is established with MFC and some simulation experiments including without current and in current are carried out. The results show that the motion of AUV can be well simulated and some suggestions are given for vertical plane control of AUV.