Simulation of AUV load separation motion with positive buoyancy force load

Motion equations of AUV (autonomous underwater vehicle) load separation with positive buoyancy force load, that the load's buoyancy force is bigger than its gravitational force, was derived. Based on proper engineering hypothesis for AUV's anchor chain, system viewpoint was used to found the movement equations, and the D'Alembert principle was used to eliminate the Constraint force of the anchor chain. Based on the movement equations, the simulations were carried out with different initial parameters. The results show the load separation motions clearly.