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 Yumin Su,Jinxin Zhao,Jian Cao and Guocheng Zhang.Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages[J].Journal of Marine Science and Application,2013,(1):45-51.[doi:10.1007/s11804-013-1169-6]
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Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages


Dynamics Modeling and Simulation of Autonomous Underwater Vehicles with Appendages
Yumin Su Jinxin Zhao Jian Cao and Guocheng Zhang
Yumin Su Jinxin Zhao Jian Cao and Guocheng Zhang
State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
autonomous underwater vehicle (AUV) motion performance dynamics modeling appendages simulation system
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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Supported by the National Natural Science Foundation of China under Grant No.50909025.
Last Update: 2013-03-14