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2. Motion modeling of intelligent underwater machines

2.1. Mathematical model of intelligent AUV motion

In this section, motion modeling of AUVs is carried out. Robots have been widely used in many
industries, of course, the biggest difference between the AUV of this study and ordinary robots is the
difference of working environment. After all, underwater environments are very different from
terrestrial environments. In complex inland river and Marine environments, AUV are subject to
different forces from the external environment, and there are many difficult situations to overcome.
Therefore, in this case, the control system of the underwater vehicle has strong self-regulation
capability. Motion model is the foundation of AUV motion control. In order to ensure that the control
effect of the controller can still maintain good robustness when the various uncertain factors occur in
an underwater environment. If one constructs the motion control model of the AUV, the model will
not be too complex, and the over-complex model will make the control system more complex.
Sometime, the control system cannot be achieved even if it collapses. Usually, this model will not be
too simple, which will greatly reduce the control performance of the control system, and it will be
difficult to reflect the real movement mode of AUV [27]. Therefore, it is necessary to rationally
optimize the space motion model of AUV so that it can adapt to the complex inland river and Marine
environment and has high reliability. Normally, the mathematical motion model need to be
established a mathematical coordinate system to describe the motion of the AUV. This study adopts
the international ship model experiment library meeting (ITTC) and the ship and ocean engineering
society (SNAME) suggestion system [28], and the coordinate system belongs to the following two
kinds of right-hand rule, one is a fixed coordinate system E − ξηζ, the other is G − xyz

{N}
E ξ
φ

o
θ

η q
ψ r
y x
z p
ζ

Figure 2. The moving and fixed coordinates systems.

1) Fixed coordinate system E−ξηζ is also called the ground coordinate system or inertial coordinate
system for short ‘fixed system’. The origin E can choose a point on the earth, Eξ shaft is in the
horizontal plane, Eζ axis is perpendicular to the center of the earth, Eη axis can be obtained by the

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right-hand rule [29]. Coordinate system E − ξηζ is defined in a right-handed rectangular coordinate
system.
2) The moving coordinate system G − xyz is usually the coordinate system of the AUV carrier,
which can be built on the AUV carrier, referred to as the “moving system”. When the carrier moves,
the coordinate system will also move with the carrier. Usually, the origin of the coordinate system is
the center of gravity of the carrier. G x shaft with AUV carrier structure is the symmetric axis direction,
which is the same axis parallel with AUV, pointing at the AUV boat bow. Gy axis is parallel to the plane
of AUV ontology structure, and which is vertical to the baseline of AUV. Gy axis is vertical to G x axis,
which is longitudinal direction pointing to the direction of starboard of AUV. Gz axis is perpendicular
to the G x , Gy shaft is in horizontal plane, and Gz is pointing to the bottom of the ship motion. The
coordinate system G − xyz also forms a right-handed rectangular coordinate system [30]. The motion
coordinate system has angular velocity and acceleration against the ground in the inertial coordinate
system, so it does not apply to Newton’s second law. However, it is very convenient that the motion
coordinates are introduced to discuss fluid dynamics, and it is very simple and clear for the description
of objects in the water with the coordinate system conversion than the other method of space motion
equations. Of course, the relative position between the different objects and objects in space stress
transformation can also be easily, and AUV by propeller thrust and thrust direction will not change
because of the change of motion of the robot.
The matrix inverse transformation can be concluded that the movement in the space position
depends on the fixed coordinate system of AUV [31], and the movement of three attitude angle:
heading angle ψ, trim angle θ, heeling angle φ, which are relative to a fixed coordinate system:
(i). Rotating the heading angle ψ of G − xyz coordinate system around the G x shaft, the coordinate
transformation is shown in the Eq (2.1):
cos ψ sin ψ 0
      
x1 x x
 y1  =  − sin ψ cos ψ 0   y  = A1  y  (2.1)
z 0 0 1 z z
here, Gx → Gx1 , Gy → Gy1 .
(ii). Rotating the trim angle θ of G − x1 y1 z coordinate system around the Gy1 shaft, the coordinate
transformation is shown in the Eq (2.2):
ξ cos θ 0 − sin θ
      
x1 X1
 y1  =  0 1 0   y1  = A2  y1  (2.2)
z1 sin θ 0 cos θ z z
here Gx1 → Gξ, Gz → Gz1 .
(iii). Rotating the heeling angle φ of G−ξy1 z1 coordinate system around the Gξ shaft, the coordinate
transformation is shown in the Eq (2.3):
ξ ξ ξ
      
1 0 0
 η  =  0 cos φ sin φ   y1  = A3  y1  (2.3)
ζ 0 − sin φ cos φ z1 z1

ξ cos ψ cos θ Γ1 ∆1
    
x
 η  =  sin ψ cos θ Θ1 Λ1   y  (2.4)
ζ − sin θ Ξ1 Π1 z

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here, Γ1 = cos φ sin ψ sin θ − sin θ cos ψ,

∆1 = cos ψ sin θ cos φ + sin ψ sin φ,
Θ1 = sin ψ sin θ sin φ + cos ψ cos φ,
Λ1 = sin ψ sin θ cos φ − cos ψ sin φ,
Ξ1 = cos θ sin φ, Π1 = cos θ cos φ.
Gy1 → Gη, Gz1 → Gζ.
The rotation matrix in the Eqs (2.1)–(2.3) is shown in Eq (2.5):

cos ψ cos θ Γ2 ∆2
 

B = A1 A2 A3 =  sin ψ cos θ Θ2 Λ2  (2.5)

− sin θ Ξ2 Π2

here, Γ2 = cos φ sin ψ sin θ − sin θ cos ψ, ∆2 = cos ψ sin θ cos φ + sin ψ sin φ, Θ2 = sin ψ sin θ sin φ +
cos ψ cos φ, Λ2 = sin ψ sin θ cos φ − cos ψ sin φ, Ξ2 = cos θ sin φ, Π2 = cos θ cos φ.
So the inverse of the rotation matrix B, which is B−1 shown in Eq (2.6):

cos ψ cos θ sin ψ cos θ − sin θ

 

B−1 =  Γ3 ∆3 Θ3  (2.6)
Λ3 Ξ3 Π3

here, Γ3 = cos φ sin ψ sin θ − sin θ cos ψ, ∆3 = sin ψ sin θ sin φ + cos ψ cos φ, Θ3 = cos θ sin φ, Λ3 =
cos ψ sin θ cos φ + sin ψ sin φ, Ξ3 = sin ψ sin θ cos φ − cos ψ sin φ, Π3 = cos θ cos φ.
Using the inverse transformation, which can be obtained the following Eq (2.7):

cos ψ cos θ sin ψ cos θ − sin θ ξ

    
x
 y = Γ4 ∆4 Θ4   η  (2.7)
z Λ4 Ξ4 Π4 ζ

here, Γ4 = cos φ sin ψ sin θ − sin θ cos ψ, ∆4 = sin ψ sin θ sin φ + cos ψ cos φ, Θ4 = cos θ sin φ, Λ4 =
cos ψ sin θ cos φ + sin ψ sin φ, Ξ4 = sin ψ sin θ cos φ − cos ψ sin φ, Π4 = cos θ cos φ.
Generally speaking, the following Eq (2.8) can be obtained through Newton’s second Law:

 Fξ = mξ̈G


F = mη̈G (2.8)
 η
Fζ = mζ̈G

here Fξ , Fη , and Fζ are the projections of F on the ξ axis, η axis, and η axis, respectively. m is the
quality of underwater robot. ξ̈G , η̈G and ζ̈G are the projections of the acceleration of the center of gravity
of the underwater robot on the ξ axis, η axis, and η axis, respectively.
The three projected components of the velocity V for zero in the AUV’s moving coordinate system
G-xyz relative to the fixed coordinate system are u (transverse velocity), v (longitudinal velocity) and
w (vertical velocity). When its angular velocity Ω round fixed coordinate system origin on G-xyz
coordinate system, the three projection components are p (heeling angle speed), g (trim angle speed)
and r (heading angular velocity). The components of force F and moment M on the x-axes, y-axes and
z-axes of fixed coordinate system G − xyz are X (longitudinal force), Y( transverse force ), Z( vertical
force ) and K (heeling moment), M (trim moment) and N (heading moment), respectively.

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As shown in Table 1, each component represents the velocity, angular velocity, force and moment
on each axis respectively, where the positive direction of velocity and force is generally the coordinate
positive axis, and then the positive direction of angular velocity and moment can be determined
according to the right hand rule.

2.2. Equations of AUV space motion in underwater

Six degrees of freedom of AUV movement in space are shown as follows [32]:
1) Advance and retreat: Forward is the positive movement of the carrier along the x-axis, while
negative is backward;
2) Horizontal shift: the right shift is the positive motion of the carrier along the y-axis, while the
negative shift is the left shift;
3) Diving: diving is the positive movement of the carrier along the z-axis, and negative is the upward
movement;
4) Rotation: tilting along the x-axis is lateral tilt, tilting along the y-axis is trim, and along the z-axis
is rotating.
AUV actually has six degrees of freedom in the underwater motion. For example, when the AUV is
rocking bow motion, in addition to forward, transverse and yaw, it also has the occurrence of roll, trim
and other phenomena from time to time. AUV can be treated as the quality of a certain quality and
distribution of rigid body, with coordinates along three axis movement of linear motion and around
the three axes of rotation. According to the mechanics of rigid body combined with Newton-Euler
equation, one can build AUV underwater space of six degrees of freedom movement equations [33],
as shown in Eq (2.9):

X = m u̇ − vr + wq − xG q2 + r2
 



+yG (pq − ṙ) + zG (pr + q̇) 2




Y = m v̇ − vr + wq − yG q + r2





+zG (qr − ṗ) + xG (qp + ṙ) 2




Z = m ẇ − vr + wq − zG q + r2





+xG (rp − q̇) + yG
(rp + ṗ)


(2.9)

 K = Ix ṗ + Iz − Iy qr
+ m yG (ẇ + vp − uq) − zG (v̇ + ur − wp)

 


M = Iy ṗ + (I x − Iz ) qr




+ m zG (ẇ + wq −
vr) − xG (ẇ + vp − uq)

 


N = Iz ṗ + Iy − I x qr




+ m xG (ẇ + ur − wp) − yG (u̇ + wq − vr)

 

here m is the mass of the AUV, xG , yG , zG are the gravity coordinates of the AUV; I x , Iy , Iz are
respectively the moment of inertia of the AUV around the three axes of motion coordinate system;
u, v, w, p, q, r are angular velocities of six degrees of freedom; u̇, v̇, ẇ, ṗ, q̇, ṙ are angular acceleration
of six degrees of freedom; X, Y, Z, K, M, N are forces moments of six degrees of freedom.

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Table 1. Moving coordinate components and motion parameters.

vector x − sha f t y − sha f t z − sha f t

Speed V u v w
Angular velocity Ω p q r
Force F X Y Z
Moment M K M N

Due to the motion of six degrees of freedom is a little complicated [34], in order to combine the
actual working situation, the model is appropriately practical and precise. In this study, only the most
basic motion modes of AUV are considered, namely, pitch, bow and depth variation. The carrier only
moves up and down on the vertical plane when the depth variation is only. At bow sway, the navigation
direction of the carrier can be changed. The center of gravity of the carrier only changes the angle of
the bow at the horizontal plane and does not move on the vertical plane. When the AUV moves in the
horizontal plane, w = 0, p = q = 0, the motion state can be described as following Eq (2.10):

 X = m u̇ − vr − xG r2 − yG ṙ



Y = m v̇ + ur 2
 − yG r − xG ṙ (2.10)
N = Iz ṙ + m xG (v̇ + ur) − yG (u̇ − vr]


Since the origin setting of the moving coordinate system is coincide or overlap with the center of
gravity G. In this study, xG = yG = zG = 0, the Eq (2.10) can be further described as Eq (2.11):

 X = m(u̇ − vr)


Y = m(v̇ + ur) (2.11)

N = Iz ṙ


When the AUV moves on the vertical plane, v = 0, p = r = 0, the motion equation can be described as
Eq (2.12):
 X = m u̇ + wq − xG q2 + zG q̇



Z = m ẇ − uq 2
 − zG q − xG q̇ (2.12)
M = Iy q̇ + m zG (u̇ + wq) − xG (ẇ − uq]


Similarly, xG = yG = zG = 0, the equation can be further described as follows Eq (2.13):

 X = m(u̇ − wq)


Z = m(ẇ − uq) (2.13)

M = Iy q̇


2.3. Force analysis of AUV under water

In this section, the stress of AUV during movement is analyzed and its related structural parameters
are given. The initial modeling of the AUV needs to consider its dynamic properties. Through the
force analysis of the AUV, the resultant force F received by the robot in the water can be obtained as
follows Eq (2.14): X
F = fz + G + B + Ti (2.14)

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P
where fz is fluid hydrodynamics; G is the gravity of the AUV, B is the buoyancy of the AUV, T i is
the sum of all the thrust. The specific geometric and physical parameters of the AUV designed in this
study are shown in Table 2.

Table 2. Structural parameters and motion parameters of underwater AUV.

Name Parameter value Name Parameter value
Mass m 35 kg Length of wingspan b 0.076 m
Length L 1.7 m Chord length c 0.16 m
Diameter D 0.2 m Dimensionless span b̄ 0.253
Displacement volume V 0.06 m3 Dimensionless chord length c̄ 0.53
Speed Maximum V 1.5 m/s Surface area AR 0.012 m2
Maximum cross S 0.06 m2 Aspect ratio λR 0.485
MLSA AW 0.34 m2 DBCRPB LCR 0.63 m
Fullness coefficient φ∇ DBCTB LCF 0.12 m
Note: 1) MLSA represents Maximum Longitudinal Section Area
2) DBCRPB represents Distance Between the Center of Rudder Plate and Buoyancy
3) DBCTB represents Distance Between the Center of Thruster and Buoyancy

Fluid hydrodynamic force generally refers to the water resistance of the underwater vehicle acting
on the carrier in the water area. The motion state of the underwater vehicle, the characteristics of the
underwater vehicle and the nature of the ocean current are all the influencing factors of the
hydrodynamic force of the underwater vehicle. Without considering the hydrodynamic interaction
and determining the structure of the AUV, the hydrodynamic action of the underwater robot is not
affected by the specific position. The hydrodynamic force is a function of motion parameters and
elevator angle δe , rudder angle δr , and differential rudder angle δd .
Hydrodynamics can be divided into two categories: viscous hydrodynamics and inertial
hydrodynamics [35]. The viscous hydrodynamic coefficients of AUV are usually expressed according
to linear theory, and the fluid hydrodynamic forces are decomposed into transverse forces,
longitudinal forces and vertical forces in the coordinate system. Ignoring the cross-coupling of the
hydrodynamic forces in the coordinate system, the transverse forces are only related to δr and δd , and
the longitudinal forces are only related to δe . Then, each hydrodynamic coefficient is decomposed into
position force, rudder force and rotation force. The coupling relationship is obtained in the following
Eq (2.15):

 C X = C X (0)
CY = CYβ β + CYp p′ + CYr r′ + CYδr δr





 C = C (0) + C α α + C q q′ + C δe δ

Z Z z Z Y e
β (2.15)
 C K = C K β + C K p + C K r + C K δr + C Kδd δd
p ′ r ′ δr

C M = C M (0) + C αM α + C qM q′ + C δMe δe




 C = C β β + C p p′ + C r r′ + C δr δ


N N N N N r

where p′ = pL/V, q′ = qL/V and r′ = rL/V are dimensionless roll angular velocities, S is AUV
maximum cross-sectional area, L is total length of robot carrier, C X = X/(0.5ρV 2 S ) is the longitudinal
force coefficient, CY = Y/(0.5ρV 2 S ) is the transverse force coefficient, CZ = Z/(0.5ρV 2 S ) is the

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vertical force coefficient, C K = K/(0.5ρV 2 S L) is the roll moment coefficient, C M = M/0.5ρV 2 S L is

the pitching moment coefficient, C N = N/(0.5ρV 2 S L) is the yaw moment coefficient.
Then, the hydrodynamic force is estimated. By using the position stacking method, the derivative of
the directional force of the AUV is decomposed into several parts of the underwater propeller, body and
rudder and wing for calculation respectively, and then all of them are superposed to obtain the overall
hydrodynamic force. The calculation method of vertical force and lateral force is similar. Based on
the data of the AUV mentioned above and the theory of literature [36], the hydrodynamic coefficient is
estimated and obtained as follows. The dynamic coefficient of the vertical force is show in Eq (2.16):

 α α α
 CZ = CZB + CZR = 1.254
α α α
C = C MB + C MR = 0.544



 δMe

δe
CZ = CZR = 0.483

δe δe (2.16)

 C M = C MR = −0.172
q
= CZB
q
+ CZR
q
= 0.365

 C
 Zq


C M = C MB + C MR = −0.166
q q

Similarly, the hydrodynamic coefficient of transverse force is show in Eq (2.17):

CYβ = CZB

α α

 + CZR = −0.816
β α α
C = C MB + C MR = 0.731



 Nδr

δe
CY = CZR = −0.242

δr δe (2.17)

 C N = C MR = −0.086
CY = C + CZR
r q q
= −0.258



 C r = CZB

MB + C MR = −0.121
 q q
N

The inertial hydrodynamic force of the AUV is directly proportional to the acceleration and angular
acceleration of the AUV [37]. Each degree of freedom of the AUV can generate linear acceleration
and angular acceleration, and the six degrees of freedom can naturally have 36 inertial forces as shown
below Eq (2.18):

g1 λ11 λ12 λ13 λ14 λ15 λ16 u̇

    
 g2   λ21 λ22 λ23 λ24 λ25 λ26  v̇ 
λ31 λ32 λ33 λ34 λ35 λ36
    
 g3  = −
   ẇ 
(2.18)
λ41 λ42 λ43 λ44 λ45 λ46
  

 g4 




 ṗ 

 g5   λ51 λ52 λ53 λ54 λ55 λ56  q̇ 
g6 λ61 λ62 λ63 λ64 λ65 λ66 ṙ

where, gi (i = 1, 2, 3, 4, 5, 6) represents the inertial hydrodynamic force generated by the six degrees of
freedom respectively; The extra mass given by λi j is not related to motion parameters, but λi j is
related to the coordinate system and shape characteristics chosen by the AUV. Since the AUV is
symmetrical to the left and right, λi j = λ ji so that λ can be reduced to 10 non-zero masses, such as:
λ11 , λ22 , λ33 , λ44 , λ55 , λ66 , λ26 , λ62 , λ35 , λ53 , and λ26 = λ62 , λ35 = λ53 = −λ26 , as shown in below

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Eq (2.19):
g1 = −λ11 u̇


g2 = −λ22 v̇ − λ26 ṙ




g3 = −λ33 ẇ − λ35 ṙ


(2.19)

 g4 = −λ44 ṗ
g = −λ35 w − λ55 q̇


 5


g6 = −λ26 v̇ − λ66 ṙ
The inertial hydrodynamic parameters were estimated based on literature and theory [38], and the
additional mass value of the AUV was obtained by calculating the structural parameters of the AUV
in the above table, and then the overall inertial mass caused by angular acceleration and acceleration
motion of the AUV was calculated by position stacking, λ11 = 1.780, λ22 = λ33 = 37.190, λ44 =
0, λ55 = λ66 = 4.106, λ35 = −λ26 = 0.723
The gravity acting on the AUV is the sum of the gravity of each component, and the combined point
is the center of gravity G (xG , yG , zG ), which is shown in Eq (2.20):
X
=


 P Pi
 P
xG Pi


 xG =



PP (2.20)
yGi Pi
yG =

P P



z = zGi Pi



G
P
The buoyancy force acting on the AUV is the sum of the buoyancy forces of each component, and
the combined point is the center of buoyancy C (xG , yG , zG ), which is shown in Eq (2.21):
X
=


 B Bi
 P
xci Bi


 xc =



PB (2.21)
yci Bi
yc =

PB



z = zCi Bi



c
B
The combined force of gravity and buoyancy can be expressed as Eq (2.22):

X = (B − P) sin θ


= (P − B) cos θ sin φ



 Y
Z = (P − B) cos θ cos φ


(2.22)

 K = (yG P − yC B) cos θ cos φ − (zG P − zc B) cos θ sin φ
 M = (xG P − xC B) cos θ cos φ − (zG P − zc B) cos θ sin φ



N = (xG P − xC B) cos θ sin φ + (yG P − yC B) P sin θ


The restoring force of the AUV is calculated by setting the magnitude of the gravity vector as
P = mg and the magnitude of the buoyancy vector as B = ρgV, in which m is the mass of the AUV, ρ

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is the density of water, g is the gravitational acceleration of the earth, and V is the volume of the AUV.
In this study, after obtaining the gravity P and buoyancy B that the AUV is subjected to, B = P can be
made by adding buoyancy material or adjusting ballast, so that xG = xc , yG = yc , zG − zc = h.

As an important control component of AUV, the propeller is the main source of power in the analysis
of the motion force. The AUV propeller involved in this study is mainly composed of propeller,
brushless DC motor, deflector hood and dynamic seal assembly. Among them, the propeller plays a
major role. The complex nonlinear characteristics of propeller thrust force are usually simplified in
practical engineering. In order to simplify the work load, the thrust force of the propeller is generally
calculated without considering its torque. The thrust of the propeller can be expressed as in Eq (2.23):

T = ρn3 D4P KT (2.23)

where, ρ is the density of water, usually take ρ = 1000 kg/m3 , n is the speed of the underwater
propeller, DP is the diameter of the propeller, KT is the thrust coefficient of the propeller. The
coefficient can be obtained through experiments, but due to limited experimental conditions, the
approximate estimate can be calculated as KT = 0.15 according to the literature, and the thrust
T = 0.02n2 of the propeller can be obtained by substituting into the above equation [39, 40].

2.4. AUV motion control equation

In this section,the motion equation of AUV is analyzed, and the transfer functions of the heading
angle, pitch angle and depth of the horizontal plane and the vertical plane are obtained. According to
the values of the AUV thrust and hydrodynamic calculated from the content of the previous section,
these values are substituted into Eq (2.23). In the space motion equation of underwater vehicle (AUV),
in order to simplify the calculation, the center of gravity coincides with the origin of moving coordinate
system, and the second order term of motion parameters is ignored without cross-coupling. In this
study, the motion of the AUV is divided into horizontal plane and vertical plane. Therefore, the motion
states of the two planes are discussed and modeled in the following parts, respectively.

The horizontal movement for AUV refers to the horizontal plane motion and revolve around Oz ,
here, w = p = q = θ = φ = 0, the calculated values of thrust and fluid hydrodynamic are substituted
into the simplified movement equation of the horizontal plane, The center of gravity of the AUV is
overlapped with the origin of the movable coordinate system, regardless of the cross coupling, the

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movement equations are simplified by (2.24):


1
(m + λ11 ) u̇ = T + ρV 2 S C x (0)


2




 1 2 Ä β δr
ä
+ λ + λ + = ρV β + r
+ δ


 (m 22 ) v̇ 26 ṙ mur S C Y C Y r C Y r
2




1
(Iz + λ66 ) r + λ26 v̇ = ρV 2 S L C Nβ β + C Nr r + C Nδr δr

 Ä ä


2



ψ=r


(2.24)


 ξ̇ = u cos ψ cos θ − v sin ψ
η̇ = u sin ψ cos θ + v cos ψ





  v

β = −


 arcsin


 V
u = V cos β





v = −V sin β


Under the condition of small sideslip angle, the horizontal plane motion control equation is the
following Eq (2.25):
u = V cos β ≈ V,



u̇ = 0

(2.25)


 v = −V sin β ≈ −Vβ,
v̇ = −V.


The disturbance equation can be obtained in the following Eq (2.26):


λ + λ
Ç å
(m ) m L
− CYr r − CYβ β
26 22
β+ 1

1 2 r− 1

ρV ρVS ρVS


2
 S 2 2
V
= CYδr δr (2.26)
(Iz + λ66 ) λ26

L

β + C Nr r − C Nβ β = C Nδr δr


 ṙ − 1
ρV S L ρVS L

1 2
2 2
V
Substituting the coefficients into the equation and performing the Laplace transform, one can get
Eq (2.27):
(−0.009s − 0.761)r(s) + (−1.515s + 0.816)β(s)



= −0.242δr (s)


(2.27)


 (0.475s + 0.137)r(s) + (0.009s − 0.731)β(s)
= −0.086δr (s)


The transfer function of heading angular velocity is obtained:

r(s) 0.132s + 0.107
Wr (s) = = (2.28)
δr (s) 0.72s2 − 0.163s − 0.894
Because ψ̇ = r is a function of time t, the transfer function of heading angle can be obtained:
1 0.132s + 0.107
Wψ (s) = Wr (s) = (2.29)
s 0.72s − 0.163s2 − 0.894s
3

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The horizontal movement of the AUV refers to the movement on the vertical plane and the
movement around Oy , including v = p = r = ψ = φ = 0. Then according to the calculated thrust and
fluid hydrodynamic values in the above content, substituting them into the simplified equation of
horizontal plane motion and simplifying it to get:

1 2

 (m + λ 11 ) u̇ = T + ρV S C x (0)
2



(m + λ33 ) v̇ + λ35 q̇ + muq






 = 1 ρV 2 S C α α + C q q + C δe δ



z e
 z z
2




Iy + λ55 q̇ + λ35 u̇






 = 1 ρV 2 S L C αM α + C q q + C δe δe




M M
2 (2.30)


 θ=q

ξ = u cos θ





ζ = −u sin θ





  w
α =


 arctan −
u



u = V cos α





w = V sin α



Under the condition of small angle of attack, the control equation of horizontal plane motion is as
follows:
u = V cos α ≈ V,



u̇ = 0

(2.31)


 w = V sin α ≈ Vα,
ẇ = V α̇.


One can get the disturbance equation:

λ35 (m + λ33 )

 − 1 2 q̇ − 1 α̇
ρV S ρVS




 2 2
 Ç å
m L q

+ Cz q − Czα α = Czδe δe

− −1 (2.32)

 2
ρVS V

Iy + λ55


 L
q − C qM q − C αM α = C δMe δe



ρV S L
 1 2
2
V

Substituting the coefficients into the equation and performing the Laplace transform, one can gets
Eq (2.33):
 (−0.010s − 1.191)q(s) + (1.515s − 1.254)α(s)


= 0.483δe (s) (2.33)

(0.475s + 0.188)q(s) − 0.544α(s) = −0.172δe (s)


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The transfer function of the angular velocity of the pitch angle is obtained:

q(s) 0.261s + 0.478

Wq (s) = = (2.34)
δe (s) 0.720s2 + 0.316s + 0.884

Since θ̇ = q is a function of time t, we can get the transfer function of the trim angle:

1 0.261s + 0.478
Wθ = Wq (s) = (2.35)
s 0.720s3 + 0.316s2 + 0.884s

And because ζ̇ = −u sin θ ≈ −uθ, u = V cos α ≈ V, ζ̇ ≈ −Vθ, we can get the depth of the
transfer function:
V 1.5(0.261s + 0.478)
Wq (s) = Wθ (s) = − (2.36)
s 0.720s4 + 0.316s3 + 0.884s2
In this section, the main work is the research on the motion control of AUV. First, we determine
the coordinate system of AUV and the mathematical model of the six-degree-of-freedom spatial
motion, and then conduct a detailed force analysis of AUV. It is mainly divided into fluid
hydrodynamic force, gravity, buoyancy force and thrust force. Among them, the hydrodynamic
coefficient is estimated through relevant references and theories, and the approximate superposition
method is adopted. Finally, the motion equation of AUV is analyzed, and the transfer functions of the
heading angle, pitch angle and depth of the horizontal plane and the vertical plane are obtained.

3. Fuzzy adaptive PID control of AUV motion

3.1. PID control

In this section, the PID controller is designed and the simulation study is carried out, so as to
compare the performance of fuzzy adaptive PID controllers. As we know, PID controller has the
advantages of simple structure, good stability, reliable operation and convenient adjustment, and does
not need the prerequisite such as accurate system model. When we cannot get accurate and precise
system modeling, PID control technology is the most appropriate. However, when the controlled
object is in complex underwater environment and the system is nonlinear, the control effect of PID
control method is limited and it is difficult to meet the precision requirements of the system. When the
controlled object controlled by the control system is performing underwater tasks, its work efficiency
will be significantly affected when it is interfered, and it cannot perform underwater tasks stably.
Today’s automatic control techniques are based on the concept of feedback. The feedback system is
generally a closed-loop system with negative feedback. First, the input value is obtained through the
transfer function, and the intermediate value is compared with the expected value to obtain the error.
Then, the error feedback is used to adjust and control the operation of the system. The PID controller
consists of proportional unit (P), integral unit (I) and differential unit (D). By means of trial and error
method, the better parameter control quantity of linear combination is obtained, and the controlled
object is simulated. The schematic diagram of the simulated PID system is shown in Figure 3. The
system consists of simulated PID controller and controlled object.
PID controller is a dominant controller, When the PID controller forms a deviation according to
the given value r(t) and the actual output value y(t): e(t) = r(t) − y(t). The method is to combine the

Mathematical Biosciences and Engineering Volume 20, Issue 5, 9208–9245.