Modeling and control characteristics analysis of uniaxial omnidirectional vector propulsion unmanned underwater vehicle

According to the structural characteristics of a uniaxial omnidirectional vector UUV, the force analysis was carried out and the simulation mathematical model was established. The control characteristics of the vector propulsion UUV were compared with that of the conventional propulsion UUV. The comparison results showed that the stability performance of the vector propulsion UUV was poor compared with the conventional propulsion UUV, but the maneuvering performance was better, and it was suitable for the motion control at low speed.