标题：Dynamic Modeling and Performance Analysis of an Autonomous Underwater Vehicle
作者：Chen, Yuan; Zhang, Rongmin; Gao, Jun
作者机构：[Chen, Yuan; Zhang, Rongmin; Gao, Jun] Shandong Univ Weihai, Sch Mech Elect & Informat Engn, Weihai 264200, Peoples R China.
会议名称：IEEE International Conference on Information and Automation 2015
会议日期：AUG 08-10, 2015
来源：2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION
关键词：underwater vehicle; dynamic modeling; kinematic performance
摘要：This paper mainly deals with the maneuverability capabilities of the propeller-fin-driven underwater vehicle. The nonlinear dynamic model is firstly set up, numerical simulations of kinematic behaviors in the horizontal plane, vertical plane and three-dimensional space are performed respectively to verify the nonlinear dynamic model. Then, Z-shaped steering method with a positive and identical negative fin angle is also applied to detect the maneuverability of underwater vehicle. Finally simulation results demonstrate that the nonlinear dynamic modeling and decoupling methods achieve better maneuverability and steering performance of the underwater vehicle.