An underwater vehicle maneuvering simulation: focus on turning maneuvers

Maneuvering of an underwater vehicle was studied under the action of its dynamic control systems. The equations of motion were solved numerically in the original state without any linearization or other simplification. The underwater vehicle was assumed to be a rigid body with 6 DOF (Degrees Of Freedom) moving in calm water. To reduce the complexity of the real motion, some simplifying assumptions were applied to the hydrodynamic forces and moments. The computer code developed, using MATLAB TM7.1, can simulate versatile states of the underwater vehicle maneuvering. As an example, the turning maneuvers are demonstrated in detail. The simulation is applicable to either large manned submarines or AUVs (Autonomous Underwater Vehicles), however the sample simulations are performed for large submarines.