Study on Hydrodynamic Characteristics and Dynamics Model of Underwater Spherical Robot

In order to simplify parameter adjustment process of the AUV controller in the pool experiments, many researchers established the robot dynamics model and pre-adjusted the parameters in the simulation. This paper mainly studied the characteristics of underwater spherical robot hydrodynamic model and the verification of the model through experiments. First, we obtained the hydrodynamic force acting of the robot in different fluid environments through Computational Fluid Dynamic method. Then, the hydrodynamic coefficients of the dynamic model were calculated by the regression of the above force data. Finally, these hydrodynamic coefficients obtained from the above simulation were verified by pool experiments. The experimental results showed that these coefficients obtained by this method was well fitted with the experimental data and may be used as a reference for the hydrodynamic model. In addition, the nonlinear characteristics of hydrodynamic coefficients under different disturbances were also studied. This will provide further reference for model identification and control in complex underwater environment.