携带正浮力载荷AUV的载荷分离运动仿真研究  

Simulation of AUV Load Separation Motion with Positive Buoyancy Force Load

作　　者：邵成[1] 宋保维[1] 李家旺[1] 杜晓旭[1] 

机构地区：[1]西北工业大学,陕西西安710072

出　　处：《系统仿真学报》2008年第9期2454-2457,2461,共5页Journal of System Simulation

摘　　要：结合工程实际对锚链进行简化假设,从系统的角度建立AUV载荷约束分离运动方程,并结合D'Alembert原理,消去锚链的约束反力。在此基础上,对该AUV在不同初始参数下的载荷分离运动进行仿真研究,仿真结果清晰的反映了AUV载荷分离运动情况。Motion equations of AUV （autonomous underwater vehicle） load separation with positive buoyancy force load, that the load＇s buoyancy force is bigger than its gravitational force, was derived. Based on proper engineering hypothesis for AUV＇ s anchor chain, system viewpoint was used to found the movement equations, and the D＇Alembert principle was used to eliminate the Constraint force of the anchor chain. Based on the movement equations, the simulations were carried out with different initial parameters. The results show the load separation motions clearly.

关 键 词：刚体力学 AUV 载荷分离 运动方程 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程]