Prediction of mode and static stability of negative buoyancy vehicle

This article concerned modelling the dynamics of a novel type of autonomous underwater vehicle, which looked like a plane and worked in the condition of negative buoyancy. Linear system theory was applied to study the hydrodynamics of the negative buoyancy vehicle (NBV). The motions in the lognitudinal plane and the lateral plane were divided into a few modes, and the influence of buoyancy and metacentric height on the modes of motion were predicted based on the analysis of eigenvalue and eigenvector, as well as the criterion of static stability under constant load on the two planes was proved, which could be applied on NBV design.