Research On Motion Simulation Of A Small Underwater Vehicle

With the development of ocean research and exploitation, the application of underwater vehicle in military domain and scientific research has been paid more and more attention in recent years. Owing to mini-AUV's charactereristics of small volume, low resistance, excellent invisibility, good maneuverability, low cost and promising application, the research of it has been becoming the focus now.It has great significance to research the mini-AUV's hydrodynamic performance as well as maneuverability and to build motion simulation system. The motion simulation system can not only help to analyze the underwater vehicle's motion performance but also provide a platform for the design and debugging of the motion controller which can reduce the frequency and the cost of experiments in sea or lake.The research object of the thesis is a mini-AUV developed by Harbin Engineering University. Firstly, the six-degree freedom of motion equations was built and the forces needed to solve the equations were analyzed. Secondly, hydrodynamic coefficients of the vehicle were got through model experiment and compution. The inertial hydrodynamics of the the AUV was calculated by panel method and the results were compared with experimental data. The forces of rudders, the propeller's thrust curve and torque curve were got by using panel method. Finally, the motion simulation platform was constructed and the motion performance of the vehicle was analyzed. Simulation courves of typical movements were presented and the maneuverability of the underwater vehicle was also analyzed. Basing on the profile characteristic of the vehicle, a simplified hydrodynamic expression was given. Simulation results got by using this simplified model were compared with results before and the feasibility and correctness of the simplified model was validated.