Model of a new type long distance autonomous underwater vehicle (AUV)

It is well known that the hydrodynamic model of autonomous underwater vehicle (AUV) is very important for system analysis, design and simulation, but the traditional model of AUV is only suitable for cruise mode and suffers from the following shortcomings: (1) it considers only the hydrodynamic damping at cruise mode; (2)it considers only the hydrodynamic forces from the axial flow; (3)it does not consider the force and moment from the vertical thrusters and lateral thrusters. Thus this kind of model is not suitable for a new type long distance AUV (Fig.1 in full paper) that not only can cruise but also can hover. In order to overcome the above-mentioned shortcomings, a new hydrodynamic model for the new type AUV is proposed in this paper. In the paper, we explain in detail the design of hydrodynamic model for the above-mentioned new type AUV. We introduce the kinematical equations of AUV. The momentum and angular momentum of AUV and external forces acting on AUV are derived. The new hydrodynamic model has been successfully used in its control system simulation and has proved to be not only suitable for modeling the new type AUV at cruise mode but also suitable for modeling the AUV at hover mode.