A diving plane, also known as a hydroplane, is a control surface found on submarines which allow the vessel to pitch its bow and stern up or down to assist in the process of submerging or surfacing the boat, as well as controlling depth when submerged.
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In this dissertation , through computer simulation , the problems of modeling , control and guidance of auvs are presented . the first part of this dissertation addresses the problem of dynamically modeling of auvs , and derives thrusters " two - dimension nonlinear dynamic model , which has axial flow speed and propeller rotational velocity as two state variables , voltage or current of motor as inputs , and thruster force and torque as output . the second part focuses on the nonlinear adaptive sliding mode control of auvs in diving plane and steering plane 本论文系统研究了自主式水下航行器的建模、非线性自适应滑模控制、以及深度调整和水平面导引方法等问题，具体成果和创新点如下1 、根据流体力学理论，建立了螺旋桨推进器的动态模型，它以螺旋桨来流速度v _ p和螺旋桨转速n为状态变量，以电机施加转矩为输入，螺旋桨推力t和转矩q为输出。
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