Dynamic modeling and parameter sensitivity analysis of AUV by using the POD method and the HB-AFT method

Autonomous Underwater Vehicle (AUV) parameterization is a geometric modification method, and can quickly obtain excellent structure with low vibration and noise performance. Blindness and inefficiency are common outcomes of the lack of an efficient parameter selection approach. But not enough research has been done in this area. In this paper, the finite element (FE) method is used to establish the propeller–shaft–shell double beam system with ball bearings, which is more similar to the real model. The basic theory of the proper orthogonal decomposition (POD) method is introduced in detail, and the original full order model (FOM) is reduced to 4 DOFs. It is found that the accuracy of the reduced order model (ROM) is high enough and the calculation time is greatly reduced. The semi-numerical semi-analytical expression of the ROM system is solved by the harmonic balance and alternating frequency/time domain (HB-AFT) method, whose results are in good agreement with those by the Runge–Kutta method. The sensitivities of the shell responses to the spring stiffness are discussed. The AUV setup is designed to analysis of numerical and experimental results. These results in this paper can provide an advanced theoretical basis for the structural parameter design of the AUV.