上海交通大学学报

上海交通大学学报（自然版） ›› 2017, Vol. 51 ›› Issue (10): 1241-1251.doi: 10.16183/j.cnki.jsjtu.2017.10.014

• 兵器工业 • 上一篇    下一篇

 支撑机构驻留水下航行器着陆策略及影响因素

 朱信尧1，宋保维2，徐刚1，杨松林1   

  1.  1. 江苏科技大学 船舶与海洋工程学院， 江苏 镇江 212003；
    2. 西北工业大学 航海学院， 陕西 西安 710072
  • 出版日期:2017-10-31 发布日期:2017-10-31
  • 基金资助:
     

 Research on Landing Strategy and Influencing Factors of
 an Autonomous Underwater Vehicle with Supporting Mechanism

 ZHU Xinyao1，SONG Baowei2,XU Gang1,YANG Songlin1   

  1.  1. School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and
     Technology, Zhenjiang 212003, Jiangsu, China; 2. School of Marine Science and Technology,
     Northwestern Polytechnical University, Xi’an 710072, China
  • Online:2017-10-31 Published:2017-10-31
  • Supported by:
     

摘要：  简单介绍了驻留水下航行器(Autonomous Underwater Vehicle, AUV)的概念及工作过程，基于基本力学理论，建立了航行器空间运动的运动学及动力学数学模型；结合本航行器的特点，建立了变浮力系统作用力数学模型、垂推作用力及控制数学模型.在此基础上，建立了航行器着陆过程仿真模型.针对支撑机构驻留AUV，提出了注水自由下潜、支撑机构伸出注水自由下潜、垂推控制、支撑机构伸出垂推控制4种着陆策略，研究了变浮力系统注水质量和位置对着陆参数的影响；对比4种着陆策略，分析了支撑机构和垂推对着陆策略的影响，为着陆及驻留方案的设计和航行器设计及改进提供理论依据.

关键词: 自主水下航行器, 着陆策略, 支撑机构, 垂直推进器, 空间运动模型 

Abstract:  Conception and working process of an autonomous underwater vehicle (AUV) that can park on the seabed were introduced briefly. Kinematic and dynamic mathematical models of the AUV spatial motion were established based on basic mechanics theory. Combined with the characteristics of this AUV, forces’ mathematic models of variable buoyancy system and vertical thrusters were established, and control algorithm of verticalthrusters was designed. Based on this, landing simulation model was established. Four landing strategies of the AUV with supporting mechanism were proposed: diving freely with negative buoyancy, diving freely with supporting mechanics with negative buoyancy, diving under the control of vertical thrusters and diving with supporting mechanics under the control of vertical thrusters. On this basis, the impact of mass and position of water injected into the AUV on landing parameters were studied. Finally, the influences of supporting mechanism and vertical thrusters were analyzed through comparing different landing strategies. Results in this paper provide theoretical basis to landing program design and improvement of the AUV.

Key words:  autonomous underwater vehicle (AUV), landing strategy, supporting mechanism, vertical thrusters, spatial motion model

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