Research On Motion Simulation For Mini Autonomous Underwater Vehicle

For the mini Autonomous Underwater Vehicle (mini-AUV) has characters of smallvolume, low resistance, good maneuverability, low cost and etc, it is suitable to be anunmanned, autonomous underwater device. The accurate mathematical simulation model isthe basis of the development of min-AUV system, and the reliable motion control system isthe precondition for the min-AUV to finish tasks and missions under the water.In this paper, the REMUS simulation model presented by Timothy Prestero in his MITMaster’s thesis is modified by updating the calculation method of forces and moments ofrudder and propeller. Then, the modified REMUS model is used to simulate the mini-AUVdeveloped by Harbin Engineering University based on five kinds of classic motion includingpure diving motion, Circle Maneuver in horizontal plane, Zig-Zag Maneuver in horizontalplane, Motion of trapezoid steering in vertical plane and spatial motion of spiral diving.In addition, the comparison of the modified REMUS model and “MAUV-Ⅱ” model hasbeen made by analyzing the similarities and the differences. The differences of nonlinearmotion equations and hydrodynamic forces between these two models have been detaileddescription. The comparison of simulation results based on the modified REMUS simulationmodel and the “MAUV-Ⅱ” one has been shown by five kinds of classic motion over avariety of operation conditions to determine which one is more accurate.Finally, related experiment has been finished, including experiment of Circle Maneuverin horizontal plane, Diving motion in vertical plane and Motion of trapezoid steering invertical plane, respectively. The comparion of experiment data and simulation result based ona variety of values of velocity and rudder has been made, which is applied to research themotion law of the AUV and to verify the accuracy of the simulation result which is based onthese two models.