Abstract
Static stability analysis of the two-point mooring autonomous underwater vehicle (AUV) is presented. The mathematic model is a set of equilibrium equations describing the attitude of the AUV. The mooring lines are regarded as inelastic catenaries, and five degrees of freedom of AUV are considered. The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations. We analyze stability of the prime AUV and find that the AUV has a flow-following tendency, which makes the swing angle big. The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed, and it will weigh anchor when the speed is greater than 3 kn. Subsequent parametric study reveals the influence of the designing parameters on the stability.
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