Dynamics Modeling and Control Simulation of Autonomous Underwater Vehicle

摘要

A dynamics model of an open-shelf autonomous underwater vehicle (AUV) is described in this paper. Thevirtual prototype technology and the control simulation software are used to build the virtual prototype model of AUV, and AUV dynamic location control arithmetic is simulated based on analyzing motion and hydrodynamic mathematical model of the virtual prototype. The simulation results indicate that the virtual prototype system has the function of simulation demo and performance validation, and can provide one kind of new method for AUV graphic simulation, and has very important practical meaning on AUV design and control research.