Motion Control and Dynamics of the Hybrid AUV in Underwater Noise Monitoring Mode

The problems of controlling the movement of a hybrid autonomous unmanned underwater vehicle (HAUV) during operational monitoring of the noise field in the sea are considered. To organize the movement of the HAUV, which consists of several stages, a control complex is used that ensures the fulfillment of the specified requirements for the dynamics of the vehicle and for the conditions for effective measurements of noise field parameters using a scalar-vector receiving system. The structure and mathematical models of the propulsion-steering complex, buoyancy and moment of stability control systems are studied. Optimization of the operation of the HAUV in the acoustic station mode was carried out by model and experimental adjustment of the parameters of these systems, taking into account the specific features of their design. When analyzing its structure and dynamic properties, the MMT-300-M AUV was adopted as a prototype of the HAUV. The results of a computational experiment on the hydrodynamics of the vehicle based on the virtual purging of its three-dimensional model are presented, as well as the results of modeling the dynamics of the vehicle when operating in the acoustic station mode.