THEORETICAL AND EXPERIMENTAL INVESTIGATION ON DYNAMICS BEHAVIOR OF UNDERWATER VEHICLE

In recent years, unmanned vehicles have intensively been developed to reduce risk on human life for marine applications. Predicting the dynamics behavior of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains various hydrodynamics forces and moments expressed collectively in terms of dynamics equations. Therefore, to optimize the AUV design it is necessary to predict maneuvering ability and dynamics behavior of AUV. This can be done by computational simulation. SUT-2 is an AUV system, being developed by Marine Engineering Research Center, Sharif University of Technology in Iran. Primary dynamics test have been developed in marine engineering laboratory. In this paper dynamics behavior of this AUV is investigated by using experimental test and computational simulation. Results can be used to optimize the dynamics behavior and designing the autonomous controller of AUV.