In order to enable the underwater vehicle to better complete the trans medium maneuver of the submarine launched UAV,a dynamic underwater vehicle for the submarine launched UAV was designed based on the rotating body structure and ROV(Remote Operated Vehicle)driving mode.According to the shape structure and driving mode character-istics of the vehicle,its dynamics was modeled and a cascade controller was designed to control the six degrees of freedom motion parameters of the vehicle,Matlab/Simulink is used for simulation verification.Finally,ISIGHT optimization soft-ware is used to optimize the parameters of the cascade controller of the launch vehicle.Adaptive DOE optimization al-gorithm and Evol optimization algorithm are used for optimization calculation respectively.The optimized cascade control-ler has improved track tracking effect on six degrees of freedom,and Evol optimization algorithm has better optimization ef-fect and lower calculation cost.
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