Coefficient estimation in the dynamic equations of motion of an AUV.

Abstract

This article is about the development of the equations of motion in 6 DOF of the AUV (Autonomous Underwater Vehicle) SIRENA carried out by students of UPCT. As it is a pre-programmed submersible, one of the main targets is to model mathematically the submarine dynamics to obtain the simulation of its movement under any circumstance. The equations form a non-lineal system of EDPs and EDOs and are simplified using hydrodynamic coefficients. The aim of this study is to present briefly the non-lineal system of differential equations and to comment how the main coefficients have been estimated.