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In order to study on the structure system and the coordinated control of the underwater vehicle controlled by rudders and thrusters, the autonomous underwater vehicle (AUV) namedÂ¿HaiYi-1Â¿is developed. This paper introduces the system structure, control method, software and hardware of Â¿HaiYi-1Â¿in details. And on the basis of hydrodynamic analysis of the thrusters, the dynamical model of the AUV is built with the signals of digital compass, velometer and deep gauge. The motion control experiment of the AUV test-bed is performed in pool. It is verified that the system structure, software and hardware of the test-bed is feasible. The experiment result shows that the test-bed can realize the function of rudders and thrusters control, the dynamical model can character the dynamics of Â¿HaiYi-1Â¿. The above study also provides a significant foundation for furthermore simulation and experimental study.