USV拖曳回收AUV动态过程仿真研究  

Simulation research on dynamic process of USV towed recovery AUV

作　　者：高东勇 郭忠峰[1] 谷海涛[2,3] 孟令帅[2,3] 王旭辉[2,3,4] GAO Dong-yong;GUO Zhong-feng;GU Hai-tao;MENG Ling-shuai;WANG Xu-hui(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institute for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;School of Mechanical Engineering,Northeastern University,Shenyang 110819,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [4]东北大学机械工程学院,辽宁沈阳110819

出　　处：《舰船科学技术》2022年第21期74-79,共6页Ship Science and Technology

基　　金：中国科学院海洋信息技术创新研究院前沿基础研究项目(QYJC201913);机器人学国家重点实验室基金资助项目(Y91Z0904)。

摘　　要：为了分析水面无人艇(USV)回收水下自主航行机器人(AUV)过程中不同工况下的运动状态,利用Adams建立回收系统模型和AUV动力学方程来模拟AUV回收状态,预测AUV在不同拖曳速度、收缆速度和对接点对AUV姿态的影响。通过改变拖曳速度、收缆速度和不同对接点,发现随着拖曳速度变大、收缆绳速度变慢和恰当的对接点AUV抬首角会变小。Adams模拟仿真结果表明选择快的拖曳速度、慢的收缆速度和B对接点对AUV回收姿态影响较小,提高回收的稳定性和减少现场湖试过程。In order to analyze the motion status of the unmanned surface vessel(USV)under different working conditions during the recovery of the autonomous underwater vehicle(AUV),Adams was used to establish the recovery system model and the AUV dynamic equation to simulate the recovery status of the AUV and predict the AUV at different towing speeds,Take-up speed and the influence of nodes on the attitude of AUV.By changing the towing speed,cable take-up speed and different pairs of nodes,it is found that as the towing speed becomes larger,the cable take-up speed becomes slower,and the appropriate pair of nodes will make the AUV bow angle smaller.Adams simulation results show that the selection of fast towing speed,slow take-up speed and B docking point has little effect on the AUV recovery attitude,which improves the stability of recovery and reduces the on-site lake test process.

关 键 词：USV AUV 动力学方程 拖曳速度 收缆速度 对接点 

分 类 号：TH12[机械工程—机械设计及理论]