Skip to main content

Dynamics modeling and simulation of autonomous underwater vehicles with appendages

Abstract

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.

This is a preview of subscription content, access via your institution.

References

  1. Azarsina F, Williams CD (2010). Manoeuvring simulation of the MUN Explorer AUV based on the empirical hydrodynamics of axi-symmetric bare hulls. Applied Ocean Research, 32(4), 443–453.

    Article  Google Scholar 

  2. Evans J, Nahon M (2004). Dynamics modeling and performance evaluation of an autonomous underwater vehicle. Ocean Engineering, 31(14–15), 1835–1858.

    Article  Google Scholar 

  3. He Moqin, Williams CD, Crocker P, Shea D, Riggs N, Bachmayer R (2010). A simulator developed for a twin-pod AUV, the Marport SQX-500. Journal of Hydrodynamics (Ser.B), 22(5), 184–189.

    Article  Google Scholar 

  4. Li Ye, Liu Jiancheng, Shen Mingxue (2005). Dynamics model of underwater robot motion control in 6 degrees of freedom. Journal of Harbin Institute of Technology, 12(4), 456–459.

    Google Scholar 

  5. Li Ye, Liu Jiancheng, Xu Yuru, Pang Yongjie (2005). Dynamics modeling for motion control of underwater vehicle with wing. Robot, 27(2), 128–131.

    Google Scholar 

  6. Prestero T (2001). Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle. Oceans Conference Record (IEEE), Honolulu, USA, 1, 450–455.

    Google Scholar 

  7. Shi Shengda (1995). Submarine maneuverability. National Defense Industry Press, Beijing, China, 150–151.

    Google Scholar 

  8. Song Feijun, An PE, Folleco A (2003). Modeling and simulation of autonomous underwater vehicles: design and implementation. IEEE Journal of Oceanic Engineering, 28(2), 283–296.

    Article  Google Scholar 

  9. Von Alt C (2003). Remus 100 transportable mine countermeasure package. Oceans Conference Record (IEEE), San Diego, USA, 4, 1925–1930.

    Google Scholar 

  10. Wang Bo, Su Yumin, Qin Zaibai (2009). Research on maneuverability and simulation of small autonomous underwater vehicle. Journal of System Simulation, 21(13), 4149–4152.

    Google Scholar 

  11. Wang Bo, Wan Lei, Xu Yuru, Qin Zaibai (2009). Modeling and simulation of a mini AUV in spatial motion. Journal of Marine Science and Application, 8(1), 7–12

    Article  Google Scholar 

  12. Xu Haijun, Pan Cunyun, Xie Haibin, Zhang Daibing (2008). Dynamics modeling and simulation of a bionic swim bladder system in underwater robotics. Journal of Bionic Engineering Supply, 5(Supplement), 66–71.

    Google Scholar 

  13. Zhang he, Xu Yuru, Cai Haopeng (2010). Using CFD software to calculate hydrodynamic coefficients. Journal of Marine Science and Application, 9(2), 149–155.

    Article  Google Scholar 

  14. Zhao Jinxin (2011). The hydrodynamic performance calculation and motion simulation of an AUV with appendages. MS thesis, Harbin Engineering University, Harbin, 47–50.

    Google Scholar 

Download references

Author information

Affiliations

Authors

Corresponding author

Correspondence to Jinxin Zhao.

Additional information

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.

Rights and permissions

Reprints and Permissions

About this article

Cite this article

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

Download citation

Keywords

  • autonomous underwater vehicle (AUV)
  • motion performance
  • dynamics modeling
  • appendages
  • simulation system