[an error occurred while processing this directive] [an error occurred while processing this directive] [an error occurred while processing this directive]
[an error occurred while processing this directive]
Academic article

Analysis of motion characteristics for UUV in shallow-water current environments

  • GENG Xuelong ,
  • MING Chao , * ,
  • XU Zihe ,
  • BAI Zhiheng ,
  • FENG Tong
Expand
  • School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China

Received date: 2025-06-17

  Online published: 2025-11-28

Abstract

This paper investigates the influence of ocean currents on the motion characteristics of underwater unmanned vehicles (UUV) operating in complex current environments within shallow waters. First, based on the characteristics of shallow-water currents, mathematical models are established for both laminar and turbulent flows. Subsequently, a UUV motion model incorporating current effects is developed. Utilizing this model, simulation analyses of spiral diving motion characteristics are conducted under both laminar and turbulent flow conditions to explore the impact of shallow-water currents on UUV motion. Simulation results demonstrate that shallow-water currents directly affect the UUV motion characteristics, altering its velocity and attitude angles, consequently leading to trajectory deviation and changes in turning radius. Under laminar flow, the trajectory deviation direction aligns primarily with the current direction angle but differs from the wind direction angle. The combined action of steady and gusty winds increases both the deviation distance and turning radius. Under turbulent flow, trajectories exhibit random deviations and oscillations. Here, the turbulent mean velocity dominates the deviation magnitude, while the turbulent intensity influences both the fluctuation range of the deviation and the variation amplitude of the turning radius. As turbulent intensity increases, the horizontal and vertical trajectory deviations increase to 11.105 m and 2.004 m, respectively, and the turning radius increases from 4.578 m to 8.097 m. These findings provide a theoretical basis for path planning and adaptive control strategies of UUV in shallow-water regions, demonstrating practical engineering value.

Cite this article

GENG Xuelong , MING Chao , XU Zihe , BAI Zhiheng , FENG Tong . Analysis of motion characteristics for UUV in shallow-water current environments[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2025 , 45(5) : 953 -960 . DOI: 10.15892/j.cnki.djzdxb.2025.05.039

[an error occurred while processing this directive]
[1]
周超, 张伟, 李德军, 等. 水下航行器对接过程下的动力学建模与运动仿真研究[J]. 船舶力学, 2023, 27(09):1327-1336.

Zhou C., Zhang W., Li, D., et al. Research on dynamic modeling and motion simulation of underwater vehicles during docking process[J]. Journal of Ship Mechanics, 2023, 27(09): 1327-1336.

[2]
Heo j., Kim J., Kwon Y. Technology Development of Unmanned Underwater Vehicles (UUVs)[J], Journal of computational chemistry, 2017, 05(07): 28-35.

[3]
刘曜, 沈建锋. 水下航行器的悬停与回旋特性研究[J]. 弹箭与制导学报, 2019, 39(03):77-80.

Liu Y., Shen J. Study on hovering and maneuvering characteristics of unmanned underwater vehicles[J]. Journal of Projectiles, Rockets and Guidance, 2019, 39(3): 77-80.

[4]
王浩亮, 于德智, 卢丽宇, 等. 基于自适应视距制导的无人潜航器三维协同路径跟踪控制[J]. 控制与决策, 2025, 40(01):242-251.

Wang H., Yu D., Lu, L., et al. Adaptive line-of-sight guidance based 3D cooperative path following control for unmanned underwater vehicles[J]. Control and Decision, 2025, 40(1): 242-251.

[5]
朱丹. 美军自主水下航行器发展研究[J]. 指挥控制与仿真, 2020, 42(1): 134-140.

DOI

Zhu D. Research on the development of American autonomous underwater vehicle[J]. command control and simulation, 2020, 42 (1): 134-140.

[6]
王浩亮, 于德智, 卢丽宇, 等. 基于自适应视距制导的无人潜航器三维协同路径跟踪控制[J]. 控制与决策, 2025, 40(01):242-251.

Wang H., Yu D., Lu, L., et al. 3D cooperative path-following control of unmanned underwater vehicles based on adaptive line-of-sight guidance[J]. Control and Decision, 2025, 40(1): 242-251.

[7]
陈云赛, 徐庆丰, 姜清华, 等. 多轴矢量复合推进无人水下航行器动力学建模及运动仿真研究[J]. 中国造船, 2024, 65(05):87-99.

Chen Y., Xu Q., Jiang, Q., et al. Research on dynamic modeling and motion simulation of unmanned underwater vehicles with multi-axis vector composite propulsion[J]. China Shipbuilding, 2024, 65(5): 87-99.

[8]
严浙平, 李本银, 边信黔, 等. 基于误差空间的UUV三维鲁棒跟踪控制研究[J]. 北京理工大学学报, 2013, 33(05):490-494.

Yan Z., Li B., Bian, X., et al. Research on UUV 3D robust tracking control based on error space[J]. Journal of Beijing University of technology, 2013, 33 (05): 490-494.

[9]
Xia G, Zhang Y, Zhang W, et al. Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space[J]. Ocean Engineering, 2021,233:108903.

[10]
邹博宇. 多UUV系统的间歇式协同编队包容控制研究[D]. 哈尔滨工程大学, 2022.

Zou B. Research on intermittent cooperative formation containment control of multi UUV system[D]. Harbin Engineering University, 2022.

[11]
张勋, 李凡贡, 边信黔, 等. 海流干扰下UUV的航路自适应调节方法[J]. 船舶工程, 2014, 36(02):66-69+73.

Zhang X., Li F., Bian, X., et al. Adaptive route adjustment method for UUV under current interference[J]. ship engineering, 2014, 36 (02): 66-69+73

[12]
何青海, 丁文强, 吴文龙. 海洋环境对UUV作战使用影响研究[J]. 舰船科学技术, 2016, 38(13):99-102.

He Q., Ding W., Wu W. Research on the impact of marine environment on UUV operational use[J]. ship science and technology, 2016, 38 (13): 99-102.

[13]
Li J., Guo H., Zhang H., Yan Z. Double-Loop Structure Integral Sliding Mode Control for UUV Trajectory Tracking.[J] IEEE Access, 2019, 7, 101620-101632.

DOI

[14]
王奎民. 主要海洋环境因素对水下航行器航行影响分析[J]. 智能系统学报, 2015, 10(02):316-323.

Wang K. Analysis of major marine environmental factors’ effects on unmanned underwater vehicle navigation[J]. Journal of Intelligent Systems, 2015, 10(2): 316-323.

[15]
李德军, 张伟, 王磊, 等. 海流作用下潜水器运动仿真研究[J]. 舰船科学技术, 2023, 45(11): 13-16.

Li D., Zhang W., Wang, L., et al. Motion simulation research of unmanned underwater vehicles under ocean current effects[J]. Ship Science and Technology, 2023, 45(11): 13-16.

[16]
YANG K., SUI H C., AN L., et al. Modeling and man euverability simulation for vertical plane of autonomous underwater vehicle in current[J]. IOP Conference Series: Materials Science and Engineering, 2018, 435(1): 012060.

DOI

[17]
王郁茗, 李博, 周义勇, 等. 海流环境下AUV航行偏移影响研究[J]. 兵工自动化, 2022, 41(10):88-91.

Wang Y., Li B., Zhou, Y., et al. Effects of ocean current environments on AUV navigation deviation[J]. Ordnance Automation, 2022, 41(10): 88-91.

[18]
赵大刚, 张顺, 高适, 等. 海流对水下航行器运动及载荷影响研究综述[J]. 中国舰船研究, 2024, 19(05):1-16.

Zhao D., Zhang S., Gao, S., et al. Review on effects of ocean currents on motion and load of underwater vehicles[J]. China Ship Research, 2024, 19(5): 1-16.

[19]
Ekman V W. On the influence of the earth’s rotation on ocean-currents[J]. 1905.

[20]
穆城妹. 基于干扰估计的船舶协同抗干扰控制[D]. 鲁东大学, 2024.

[21]
FOSSEN T I, STRAND J P. Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel[J]. Automatica, 1999, 35: 3-16.

DOI

[22]
Pettersen K.Y. and Egeland O., Time-Varying Exponential Stabilization of the Position Attitude of an Underactuated Autonomous Underwater Vehicle, IEEE Transactions on Automatic control, 44(1), 1999, 112-115P.

[23]
李殿璞. 船舶运动与建模(第2版)[M]. 北京: 国防工业出版社,2008:1-25, 155187,354-370.

Li D. Ship Motion and Modeling (2nd ed.)[M]. Beijing: National Defense Industry Press, 2008: 1-25, 155-187, 354-370.

[24]
胡守一. UUV水下回收自抗扰控制方法研究[D]. 哈尔滨工程大学, 2019.

Hu S. Research on active disturbance rejection control method for UUV underwater recovery[D]. Harbin: Harbin Engineering University, 2019.

[25]
李晓斌, 徐东, 杨雪. 欠驱动条件下自主水下航行器轨迹跟踪动态性能预设控制[J]. 系统工程与电子技术, 2024, 46(09):3185-3197.

Li X., Xu D., Yang X. Prescribed Performance Control for Trajectory Tracking of Autonomous Underwater Vehicles Under Underactuated Conditions[J]. Systems Engineering and Electronics, 2024, 46(9): 3185-3197.

Outlines

/

[an error occurred while processing this directive]