AUV载荷分离方法及安全性研究  

Method and Safety of Load Separation of AUV

作　　者：宋保维[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174-177,192,共5页Computer Simulation

摘　　要：自主式水下航行器(AUV)可视为载荷和运载体组成的一个多体系统,在载荷释放时必须保证分离后载荷不能与运载体发生碰撞。在对AUV分离运动数学模型研究的基础上,推导了载荷和运载体初始位置和适于攻角的计算模型,并给出了推冲分离方法和重力加小推冲分离方法的碰撞模型。在此基础上对两种分离方法下载荷的运动进行了仿真和分析,通过仿真结果可知,从安全性考虑重力加小推冲分离方法更适合载荷的水下分离运动,而且具有很高的工程实用价值。Autonomous underwater vehicle （AUV） contains a load and a launcher. Two separation methods called Impulse Separation Mode respectively and Gravity Separation Mode respectively are studied. Based on the given dynamic equations, a set of transform models of the initial position and the initial attack angle of the separated load are deduced and the crash models between the load and the launch vehicle are created. According to the kinemic model and the crash model, the separation movements of the load are simulated in different separation mode. The simulation shows that the gravity separation method is safe and feasible.

关 键 词：自主式水下航行器 分离方法 分离安全性 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程]