基于磁流变技术的AUV收放防摆装置设计与仿真  

Design and Simulation of AUV Retracting Anti-Swing Device Based on Magnetorheological Technology

作　　者：李云龙 赵明慧 王生海[1] 韩广冬 邓晨旭 乔卫亮[1] LI Yunlong;ZHAO Minghui;WANG Shenghai;HAN Guangdong;DENG Chenxu;QIAO Weiliang(Marine Engineering College,Dalian Maritime University,Dalian 202311,Liaoning,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连202311

出　　处：《船舶工程》2024年第11期12-20,共9页Ship Engineering

基　　金：国家自然科学基金(52101396);国家重点研发计划项目(2022YFB4300802);中央高校基本科研业务费专项资金(3132023510)。

摘　　要：针对高海况下水下机器人(AUV)布放回收作业中存在的负载摇摆幅度过大的问题,设计一种基于磁流变阻尼器的AUV半主动式布放回收防摆装置,将其布置于船舶A型架上。分析摆角与磁流变阻尼器的动态力学关系,建立船舶在横摇和纵摇工况下的防摆装置动力学模型。利用Simulink-Adams软件进行联合仿真,结果显示,在设定的3种工作场景下,时变电流策略控制下的防摆装置平均摆动抑制率相比无防摆措施均提升70%以上,能耗相比定电流策略下降50%以上。仿真结果表明该防摆装置有效,研究成果可供下一步试验参考。Aiming at the problem that the load swing amplitude is too large in the recovery operation of autonomous underwater vehicle(AUV)under high sea conditions,a retractable anti-swing device based on magnetorheological damper is designed and placed on the A-frame of the ship.The dynamic mechanical relationship between the swing angle and the magnetorheological damper is analyzed,and the dynamic model of the anti-swing device under the rolling and pitching conditions is established.The co-simulation results of Simulink-Adams software show that under three different working conditions,the average swing rejection rate of the anti-swing device under the control of time-varying current strategy is more than 70%higher than that without anti-swing measures,and the energy consumption is more than 50%lower than that under the constant current strategy.The effectiveness of the anti-swing device is verified by simulation,which provides a theoretical basis for the next experiment.

关 键 词：水下机器人(AUV) 布放回收 动力学分析 磁流变阻尼器 防摆控制 ADAMS软件 电流控制策略 

分 类 号：U664.4[交通运输工程—船舶及航道工程]