Modeling and Simulation of Mini Autonomous Underwater Vehicles with Fins

Because of small volume of the mini autonomous underwater vehicle, the ability to resist the wave and the current disturbance is not ideal enough. The present motion models ignore the effect of the external disturbance, and even ignore the fin effective angle of attack. In this paper, we establish a dynamic motion model of the mini autonomous underwater vehicle which can describe the motion accurately according to the motion equations in six degree of freedom. The wave and current force are calculated, and the effect of the fin action is deal with in detail. Finally, simulation is carried out on WEILONG mini autonomous underwater vehicle. The comparison between the simulation results and the ocean experiment results verify the dynamic motion model is accurate and feasible.