Maneuverability simulation of a mini autonomous underwater vehicle

摘要

In order to simulate the under water motion of a mini autonomous underwater vehicle( AUV) and an- alyze its maneuverability,the dynamical characteristic of the mini AUV was researched. The 6-DOF motion equations were founded. Through model experiment with accessory bodies,the hydrodynamics of AUV body including resistance,main inertial and viscous hydrodynamic coefficients was obtained. The hydrodynamics of rudders was gained through theoretical calculation. Simulation computation of the vehicle was carried out through numerical integration of the motion equations. A motion simulation system was constructed. Four typical maneuvers in horizontal and vertical planes were simulated and the maneuverability of the mini AUV was forecasted. The simulation results reflect the basic motion characteristic of mini AUV and validate the feasibility and correctness of the whole system. The simulation system can be a testing platform for the design and debugging of motion controller and an effective tool for the development of AUV.