一种绳驱动AUV布放回收装置的结构设计与动力学分析  

Structural Design and Dynamic Analysis of a Rope Driven AUV Deployment and Recovery Device

作　　者：孙海龙 邓晨旭 王生海[1] 韩广冬 陈海泉[1] 孙玉清[1] SUN Hailong;DENG Chenxu;WANG Shenghai;HAN Guangdong;CHEN Haiquan;SUN Yuqing(School of Marine Engineering,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026

出　　处：《船舶工程》2024年第8期54-60,共7页Ship Engineering

基　　金：国家自然科学基金(52101396);国家重点研发计划项目(2018YFC0309003);中央高校基本科研业务费专项资金项目(3132019368)。

摘　　要：为了提高自主式水下航行器(AUV)布放回收的安全性和效率,以船舶起重机为基础,设计一种不仅能通过绳索自主调整吊笼的姿态,而且具有良好减摇效果的AUV水面布放回收装置。分析该装置的结构特性和机械理论模型,采用坐标转换法对吊笼的运动学位置、速度和加速度进行分析,并通过MATLAB软件对其进行仿真验证。在运动学模型的基础上对装置进行动力学分析,并利用ADAMS搭建绳索系统的虚拟样机并进行无激励和存在激励仿真验证。研究结果表明:在受船舶激励的情况下,横摇的减摇效果为78%,纵摇的减摇效果为75%;在给定轨迹下,4根绳索的变化比较稳定,能通过绳索调整吊笼的姿态,进而安全高效地完成AUV布放回收工作。In order to improve the safety and efficiency of the deployment and recovery process of autonomous underwater vehicle(AUV),an AUV surface deployment and recovery device based on ship cranes has been designed,which can not only autonomously adjust the posture of the suspension cage by ropes,but also has a good anti-roll effect.The structural characteristics and mechanical theoretical model of the device are analysed.According to the coordinate transformation method,the kinematic position,velocity and acceleration of the suspension cage are analyzed and verified by MATLAB simulation.Based on the kinematic model,a dynamic analysis of the suspension cage has been performed,and the device is analyzed using the Lagrange method.A virtual prototype of the rope system is then constructed using ADAMS for both non-excitation and excitation simulation verification.The results show that under ship excitation,the anti-roll effect of rolling is 78%;the anti-roll effect of pitching is 75%.And under the given trajectory,the changes of the four ropes are relatively stable,and the cage posture can be adjusted through the ropes to complete the deployment and retrieval work safely and efficiently.

关 键 词：自主式水下航行器 布放回收装置 绳驱动 自主调节 减摇 

分 类 号：U664.4[交通运输工程—船舶及航道工程]