Dynamics modeling and typical motion performance analysis for a multi-joint autonomous underwater vehicle

Abstract

This paper addresses the dynamics modeling and typical motion analysis of a highly-maneuverable multi-joint autonomous underwater vehicle (MJ-AUV) for deep-sea exploration. A generalized recursive dynamics modeling method is proposed based on the Newton-Euler dynamics equation and its derivation process is provided. The kinematic model is established through the screw theory and the product of exponentials (PoE) formula. A detailed dynamics model is obtained by analyzing the force states of the MJ-AUV and computing the hydrodynamic coefficients based on the computational fluid dynamics (CFD) approach. Three typical motion modes, i.e., spiral, vertical profile, and cruise motion, are selected to investigate the motion performance of the MJ-AUV via simulations and sea/lake experiments based on the detailed dynamics model. The experimental and simulation results demonstrate that the MJ-AUV has good maneuverability and can resist external disturbances, which validate the effectiveness of the proposed dynamics model.