Structure and Hydrodynamics Optimizations of Landing Autonomous Underwater Vehicle

Autonomous underwater vehicle (AUV) has become effective equipment in exploring and researching oceanic resources. Due to the limitation of the loading capacity of energy, the working ability of AUV is restricted. In this paper, we optimized the structure and hydrodynamics of the landing AUV El to improve the endurance. By decreasing diameter and increasing length, the resistance of the vehicle can be decreased with the same displacement. Although this may sacrifice the maneuverability, the vehicle is verified to have approving attitude controllability. In order to reduce landing impact, the AUV is conducted to dive to the predetermined depth close to seabed via controlling the attitude and then open water intake valves to get weight and land on sea bottom. Moreover, with the establishment of the dynamic model, the maneuverability and dynamic stability is analyzed and the equilibrium rudder angle is calculated. Sea trial indicates that the AUV could fulfill bottom-sitting and depth-setting exploration successfully.