AUV水下分离运动及分离方式研究  

On the Kinematics and Mode Selection for Separation Motion of AUV

作　　者：潘瑛[1] 徐德民[1] 宋保维[1] 潘光[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《西北工业大学学报》2004年第4期505-509,共5页Journal of Northwestern Polytechnical University

摘　　要：自主式水下航行器是由载荷和运载体组成的一个多体系统,在载荷被释放时要保证其不能和运载体发生碰撞。推导了载荷和运载体初始位置和初始攻角的计算模型。在此基础上,对载荷在推冲分离方式和重力解脱方式下的运动进行了仿真和分析,结果表明,在推冲分离方式下,载荷的上浮运动和俯仰角的变化规律使其与运载体相撞的机会增加;重力解脱方式下,由于载荷没有上浮运动且具有合适的姿态,从而使得分离非常安全。仿真结果与试验数据的一致性,验证了所建模型的实用性与有效性。Two modes of load separation from the head of AUV (autonomous underwater vehicle) are researched in this paper. Based on the given dynamic equations, a set of transform models of the beginning position and the beginning attack angle of the separated load are deduced firstly. The results of the subsequent simulation show that the first mode for the load separated from the AUV by an impulse force is complicated and unsafe because the load always has a rise motion whose amplitude is much related to the velocity of AUV and the separating force and because at the same time the rise motion is always accompanied with an unsuitable pitch attitude which increases quickly within a short time. Simulation results also show that the second mode, in which the load turns around an axis in the bottom of the head of the AUV by a set angle of 90 degrees with the gravitation of load itself firstly and then makes a thorough separation from the AUV, is desirable because the load has no rise motion and has more appropriate pitch attitude, thus reducing the chance for the separated load to knock against the AUV. The simulation tracks according with the test data validate the models built in this paper.

关 键 词：自主式水下航行器 运动参数计算 分离方式 

分 类 号：U675.8[交通运输工程—船舶及航道工程]