中文摘要：

推导出基于凯恩动力学的AUV运动学和动力学方程.采用广义速度取代速度和角速度,给出了广义惯性 力和广义主动力的计算方法.推导出作用在A U V上的水动力的计算方法,并通过仿真实验给出了水动力系数. 为了验证该模型的有效性,对AUV的深度控制、前进距离控制进行了仿真.仿真结果表明,该模型是有效的.

英文摘要：

Kinematics and dynamics for AUV are developed. The generalized active force and the general-ized inertia force are deduced by means of replacing velocity and angular velocity by generalized velocity. The equations of hydrodynamic forces of AUV are deduced. Hydrodynamic coefficients are determined through simulation. The simulations of depth control and forward distance control are implemented to verify the dynamic model of AUV. Simulation results show that the dynamic model is effective.