Effect of wave to low speed maneuvers of torpedo-like long-distance AUV

The appropriate equations governing low speed maneuvers for the torpedo-like long-distance autonomous underwater vehicle (AUV) were built. Than adopting linear wave theory, the model of AUV's wave force was built. Than the effect of the wave to the maneuverability of the AUV stationkeeping at the surface or upright sinking was simulated. The results of the simulation show that the AUV can steady complete the stationkeeping movement and upright sinking movement in the Grade 2 wave and in the Grade 4 wave; the effect of the Grade 2 wave to the maneuverability of the AUV is little, and the effect of the Grade 4 wave is very obvious; the effect of the wave to the maneuverability of the AUV is descending with increasing of the depth.