Modeling and simulation of unmanned underwater vehicle parking on seabed

According to the movement characteristics of unmanned underwater vehicle (UUV) parking on the seabed, a numerical simulation model is established, which is suitable for large angle of attack movement. A new control method of auxiliary thrusters is put forward. The diving movement of UUV underwater is simulated. The change rules of the angle of attack, sideslip angle, velocity and pitch angle of UUV during diving and parking are analyzed. The simulation results show that the axial velocity of vehicle is gradually decreased to approach zero under the action of fluid resistance. Meanwhile, under the action of the auxiliary thrusters, the vehicles's diving speed is limited within a safe range. This means the UUV's angle of attack gradually increases to about 90 degrees. The pitching angle of vehicle can be controlled in a reasonable range under the interaction of two auxiliary thrusters, too, which means the vehicle can park on the seabed with a proper attitude.