自主式水下航行器载荷分离运动仿真研究  

Modeling and Simulation of Autonomous Underwater Vehicle's Load Separation

作　　者：潘光[1] 栾明[1] 赵娥[1] 李家旺[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《计算机仿真》2009年第1期54-57,共4页Computer Simulation

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。从其功能仿真模型出发,研究了载荷和运载体的分离过程。通过分析分离过程中航行器受到的约束和流体动力的影响,利用多刚体动力学的方法理论,建立了在载荷和运载体存在约束情况下的航行器纵向运动方程,同时根据刚体运动的6自由度方程,给出了载荷与运载体分离后达到安全距离过程中的功能模型。基于上述模型进行了仿真,比较了不同速度和不同预定分离角对载荷和运载体分离过程的影响。仿真和分析结果证明了模型的合理性和有效性,对实际工程应用具有一定的参考价值。Autonomous underwater vehicle （AUV） is a multi -body system composed of a load and a carrier. Beginning with the function model, this paper researched the load＇ s separation from the AUV, and then deducted the motion equation of AUV in the vertical plane under the restriction between the load and cartier by using the theory of multi - body system and analyzing the effectiveness of the fluid dynamics and restriction. Meanwhile, it provided the function model when the load reaching the security distance in terms of 6 DOF equation. Based on the models built in this paper, some simulation tests were carried out. The effects caused by different velocities and separation angles were compared. The results of the tests and analyses proved model＇ s rationality and validity, and provided reference for the application to some extent.

关 键 词：自主式水下航行器 刚体力学 分离模型 运动方程 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]