Unpowered Diving Motion Characteristics of Deep-sea Autonomous Underwater Vehicle
GAO Wei1,2,3, LI Tianchen4, GU Haitao1,2, JIANG Zhibin1,2, SUN Yuan1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China; 4. Unit 92578 of the People's Liberation Army of China, Beijing 100161, China
Abstract:In order to explore the characteristics of the deep-sea AUV (autonomous underwater vehicle) unpowered diving motion and improve the prediction accuracy of diving motion, the interferences of ocean current and buoyancy changes are considered, and a simulation method of AUV steady unpowered diving motion is established based on its space motion equation. By changing the control input parameters, the variation laws of state variables of AUV with respect to the net negative buoyancy, the position of the center of gravity, the rudder angle and the marine environment are revealed. The results show that because of the ocean current and buoyancy changes, the motion state of AUV will change to accommodate the new flow, but the motion posture is always stable. The unpowered spiral diving can greatly improve the drift distance of the AUV in the horizontal plane. Under the same environment interference, the faster the AUV dives, the shorter time it takes, and the smaller the drift distance is.
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