Simulation-based study of propulsion and control of an AUV in current-affected environments

Abstract

This study presents a numerical investigation into the hydrodynamic behavior and control of an Autonomous Underwater Vehicle (AUV) operating in current-affected marine environments. Initially, a self-propulsion test has been conducted to determine the optimal propeller rotational speed required to overcome the AUV’s hydrodynamic resistance during a steady, straight-line motion. Subsequently, the effect of the lateral marine current has been examined, introducing additional transverse resistance that require dynamic adjustments in both rudder deflection and propeller rotational speed to keep a fixed forward speed. Therefore, a parametric analysis of the AUV's response to varying control configurations is investigated, focusing on the effects of rudder deflection angles and propeller rotational speeds on the surge, sway, and yaw motion. The overall numerical approach is validated using the propeller open water experimental data. The results highlight the effectiveness of coupled hydrodynamic simulation and control input strategies in predicting and managing AUV behavior in complex and dynamic marine environments.