Roll control of the Autonomous Underwater Vehicles (AUVs) is a significant issue in the current field of research for many researchers in the subject of AUV control system designation. Especially at higher speeds, the roll angle generated by a single rotating propeller or other external disturbances can considerably influence the whole dynamics and therefore the operation of the vehicle. In this paper, the utilisation of a system of contra-rotating-propellers (CRP) to enhance the roll dynamics of an AUV is evaluated by developing a six-degrees-of-freedom (6DOF) dynamics and control systems’ simulator. The results show that: 1. The single propeller system can cause roll angle deflections affecting the heading angle and depth of AUV depending on the forward speed. 2. Using the contra-rotating system with a proper roll controller can enhance the roll dynamics of the vehicle, particularly for the real-time roll stabilisation and maneuvering goals.

对于许多研究AUV控制系统的研究人员而言，自主水下航行器（AUV）的侧倾控制是当前研究领域中的一个重要问题。特别是在较高速度下，由单个旋转螺旋桨产生的侧倾角或其他外部干扰会极大地影响整个动力，从而影响车辆的运行。在本文中，通过开发六自由度（6DOF）动力学和控制系统的仿真器，评估了利用反向旋转螺旋桨（CRP）系统增强AUV的侧倾动力学的能力。结果表明：1.单螺旋桨系统会根据前进速度而引起侧倾角偏转，从而影响AUV的航向角和深度。2。