The Maneuverability Analysis Of Small AUV For Survey

Ocean has a wealth of resources and an important strategic position, which hasbeen widespread concern around the world. As an important means of oceanexploration and development, the Autonomous Underwater Vehicle (AUV) isbecoming the focus of marine research technology. Because AUV should complete thetasks in an unknown and complex environment, the maneuverability study of theAUV is essential. This article adopted a new approach to design and analyze themaneuverability of a kind of small AUV.Firstly, based on consideration of the performance of AUV, we proposed themanipulated design of the small AUV. Choose the right way to manipulate and therudder steering arrangement according to the requirements. Then analyze severalimportant factors which impact the manipulator performance of AUV most, and selectthe appropriate carrier trailing linear and wing airfoil based on the results of theanalysis, determine the area of the rudder and the rudder position. By this way, we canget the model of small AUV ultimately.Take the small AUV as our research subject, and gives two coordinate systemsand the transformation matrix for the motion of AUV. After that is the discussion of thehydrodynamic coefficients concerned which helps to get the six-degree-of-freedom(6DOF) equation of motion and the6DOF dynamic equations of motion taking theown characteristics of small AUV into consideration. Establish numerical simulationmodel of the small AUV using the S-function modules of MATLAB/Simulink. Runthe simulation, and simulate the freedom navigate trial of the small AUV, and providebasis for the following parameter identification.On the analysis of the realization methods of hydrodynamic parametersidentification by using SVM, based on the plane assumption, the space motion ofunderwater robot will be broken down into horizontal movement and verticalmovement. Use SVM to identify the planes maneuvering movement parameters of thesmall AUV, and resulting in the hydrodynamic coefficients. Under the same operating instruction in simulation, analyze and contrast the simulation results of the originalvalue and the recognition parameters, to verify the feasibility of SVM methods toachieve parameter identification.Finally, take the hydrodynamic coefficients into the six degrees of freedom equation,and simulate the motion used by the software of MATLAB. Then simulate dive motion,trapezoidal motion in the vertical surface and constant rotary motion, Z-typemovement in the horizontal surface. At the last, evaluate the maneuverability of smallAUV by the criterion of submarine maneuverability evaluation.