中文摘要：

在建立自主水下航行器（简称 AUV）六自由度运动模型的基础上,基于势流理论建立了潜艇运动扰动流场对 AUV 扰动力的计算模型,并对回转体 AUV 在回收时靠近潜艇过程中的操纵性进行了仿真,仿真结果显示,AUV 在靠近潜艇的过程中,潜艇扰动流场对 AUV 深度和侧向位移有较大的影响,而对姿态角的影响较小,因此,回转体 AUV 可以稳定地完成水下的回收运动。

英文摘要：

The three-dimensional motion model of an autonomous underwater vehicle（AUV） was built up,and the model for calculating disturbed force caused by the submarine motion was established through potential liquid theory.Then a numerical example simulating the maneuverability of the AUV underwater recovery was given.The simulation results show preliminarily that the disturbed liquid field of the submarine motion has obvious effect to the depth and the transverse displacement of the AUV,and has little effect to the pose degree of the AUV.Therefore,the AUV can complete the underwater recovery.