Comparative Analysis of Model and Experimental Characteristics of the MT-3500 AUV Dynamics

Abstract

The MT-3500 autonomous uninhabited underwater vehicle (AUV) was created at IMTP FEB RAS for deep-sea research in the Antarctic in connection with participation in the AMK-87 complex expedition in 2022. The functionality of the AUV allows it to be used also for solving other scientific and applied problems. The dynamic characteristics of the AUV determine the degree of its effectiveness in performing sonar, geophysical and hydrographic measurements in the observed marine areas. The dynamic characteristics of the AUV are studied on the basis of model and experimental data, the data are compared to refine the parameters of the hydrodynamic model and to optimize the algorithms and control parameters. The control is carried out with the help of a propulsion-steering complex, the measurements of which are obtained as a result of detailed pool and test site measurements with the propulsion characteristics of the propulsors. To analyze the dynamic processes of the developed simulation model, the experimental data of the work are used.