Research On Maneuverability And Motion Simulation Of Ocean-exploration Underwater Vehicle

The autonomous underwater vehicle has been used widely in many fields of the ocean exploitation. Along with the fast development of the ocean exploitation, the requirement of a large underwater vehicle, which can perform more complicated missions such as the oil exploitation and the inspection of the benthal pipeline, is more urgent.Motion simulation is one of the important performance tests of the AUV, which is of great importance to investigate the hydrodynamic capability of the AUV.The motion simulation model based on the six degrees of freedom motion equations of AUV and the restricted model experimentation data is introduced in this thesis. There are two kinds of manipulative system used widely. One is with rudder, another is with thruster. According to the research object, many problems encountered in the design process of the rudder manipulative system are discussed in this thesis. Then the maneuverability and motion ability are educed with the simulation program based on VC++6.0. The simulated results of the AUV's motive rule on the Z-shaped movement, the rotative movement and the vertical movement are figured out. The simulation curves are acquired, which demonstrate the variation of the speed, the direction of stem, the depth and the motive track. Eventually the stability and flexibility of the AUV can be used to provide the evidence for AUV's primary design and the latter control system design.