Modelling and parameter identification of UUV Blucy for control design: A benchmark model

This paper presents the modelling of a novel underactuated underwater vehicle called Blucy. It is a modular vehicle used in various underwater monitoring missions. A benchmark model is essential for developing robust controllers, navigation systems, path following, and path generation algorithms to improve the vehicle's capabilities. In this context, a workflow that balances experimental and numerical simulation methods is implemented, where physical parameters such as mass and inertial properties are computed using a well-designed CAD model. The hydrodynamic coefficients are calculated using CFD simulations, while the added mass coefficients are determined using the AMCOMP. A four-quadrant thrust model is built using existing data in the literature and later refined based on the experimental result as well as the simulation data. Finally, based on the estimated parameters, the developed model is validated against the data gathered during a mission.