重力解脱方式下AUV的载荷分离运动分析  

Simulation and Analysis for AUV Motion with Mode of Separation Using Load’s Gravity

作　　者：李家旺[1] 宋保维[1] 余德海[1] 邵成[1] 杜晓旭[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《系统仿真学报》2007年第19期4371-4374,共4页Journal of System Simulation

摘　　要：自主式水下航行器(AUV)可视为由载荷与运载体组成。研究了重力解脱方式下的载荷分离运动。考虑到分离过程中载荷与运载体之间存在约束,建立了分离时AUV的整体运动方程并进行了仿真。结果表明,对于负浮力的载荷,分离前速度增大,碰撞可能性会降低,过大或过小的预定分离角会增加碰撞发生机率,而与未考虑运载体运动的影响时相比,分离安全性会有所降低。Autonomous underwater vehicle （AUV） contains a load and a launcher. The motion of a load separates from an AUV using its gravity was discussed. Considering the effect of the constraint between the load and the launcher, the kinetic equations of the AUV in the course of the load separation were derived and simulated. The results show that, if the load＇s gravity is greater than its buoyancy, the collision possibility between the load and the launcher is reduced with the AUV＇s velocity increased before the separation, that is increased when the set separation angle chooses too large or small. The separation security is decreased compared with the situation when the effect of the launcher＇s motion is ignored.

关 键 词：自主式水下航行器 载荷分离 重力解脱方式 运动方程 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程]