To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
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Foundation item: Supported by the National Natural Science Foundation of China under Grant No.50909025.
Yumin Su was born in 1960. He is a professor at the School of Shipbuilding Engineering, Harbin Engineering University. His current research interests include fluid dynamics and marine propeller design, system integration of underwater vehicles.
Jinxin Zhao was born in 1984. He received his M.S.degree in the Design and Construction of Naval Architecture from Harbin Engineering University in 2011. Now he works toward his PhD degree in the Engineering Mechanics at Harbin Engineering University. His research interests include motion performance of underwater vehicles.
Jian Cao was born in 1984. He received the bachelor degree in Shipbuilding and Marine Engineering at Harbin Engineering University in 2007. Now he is a PhD candidate in the Design and Construction of Naval Architecture at Harbin Engineering University. His research interests include control and simulation of underwater vehicles.
Guocheng Zhang was born in 1983 He received the bachelor degree in Shipbuilding and Marine Engineering at Huazhong University of Science and Technology in 2007. Now he is a PhD candidate in the Design and Construction of Naval Architecture at Harbin Engineering University. His research interests include control of underwater vehicles.
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Su, Y., Zhao, J., Cao, J. et al. Dynamics modeling and simulation of autonomous underwater vehicles with appendages. J. Marine. Sci. Appl. 12, 45–51 (2013). https://doi.org/10.1007/s11804-013-1169-6
- autonomous underwater vehicle (AUV)
- motion performance
- dynamics modeling
- simulation system