Dynamic Modeling and Simulation of Autonomous Underwater Vehicle with Vectored Thruster

Abstract:
Compared with the autonomous underwater vehicle (AUV)equipped with rudders, the AUV with vectored thruster has better maneuverability at low velocity and can achieve more precise positioning. According to the characteristics of the AUV with single vectored thruster, the 6-DOF kinematic model and dynamic model of the AUV are established using Newton-Euler method. In the dynamic model, the thrust force is considered as a function of the rotational speed of the propeller and the tilt angle of the vectored thruster. Dynamic behavior of the AUV with single vectored thruster is simulated using five-level four-order Runge-Kutta method in Matlab. The dynamic model, which lays a strong foundation for designing of the control system, is verified through physical tests in lake.