Attitude control and self-stabilization mechanism suitable for auv unmanned underwater vehicle

The invention belongs to the technical field of unmanned underwater vehicles, and particularly relates to an attitude control and self-stabilization mechanism suitable for an auv unmanned underwater vehicle, the attitude control and self-stabilization mechanism comprises two groups of middle flange rings, the two groups of middle flange rings are fixedly sleeved with the bottoms of ballast water cabins, the two ballast water cabins are symmetrically arranged, the tops of the ballast water cabins are sleeved with end flange rings, and the end flange rings are fixedly connected with the bottoms of the ballast water cabins. The two end flange rings and the two sets of middle flange rings are fixedly connected through copper columns, an upper flange ring, a middle flange ring and a lower flange ring are arranged between the two sets of middle flange rings, and through holes are formed in the eccentric positions of the end flange rings, the middle flange rings, the upper flange ring, the middle flange ring and the