自主水下航行器载荷侧向分离三维运动仿真分析

doi:10.16183/j.cnki.jsjtu.2017.12.011

摘要/Abstract

摘要： 为了对自主水下航行器(AUV)载荷侧向分离安全性进行研究，建立了AUV载荷侧向分离三维运动模型.基于多刚体系统笛卡尔动力学理论，考虑了侧向分离过程中载荷与运载器之间的耦合运动关系，采用带拉格朗日乘子的多体系统动力学方程，建立载荷侧向分离三维运动模型；基于刚体动力学理论，采用牛顿-欧拉方法，建立AUV载荷侧向分离后载荷与运载器的单刚体运动模型.为避免求解过程中出现约束违约现象，采用约束违约稳定法对AUV载荷侧向分离多体系统运动方程进行处理，采用四阶龙格库塔积分算法对一定工况下载荷侧向分离运动进行仿真，结果表明所建立的AUV载荷侧向分离三维运动模型是有效的.

关键词: 自主水下航行器, 侧向分离, 多体系统动力学, 运动仿真

Abstract: As for the safety study of lateral separation of autonomous underwater vehicle (AUV) load, a three-dimensional motion model of total system was developed. Based on the Cartesian dynamics theory of multi-body system, the three-dimensional motion model of total system considering the coupled motion between load and carrier was established using the motion equation with Lagrange multipliers. Based on the rigid body dynamic theory, the single body movement model of load and carrier after the lateral separation was deduced by the Newton-Euler method. In the process of calculation, the constraint-stabilized method was used to avoid the occurrence of the constraint violation. Lateral separation motion had been simulated under some conditions, and the results showed the effectiveness of the three-dimensional motion model developed before.

Key words: autonomous underwater vehicle (AUV), lateral separation, dynamics of multi-body systems, motion simulation

中图分类号:

TJ 630.1

杜晓旭，崔航. 自主水下航行器载荷侧向分离三维运动仿真分析[J]. 上海交通大学学报（自然版）, 2017, 51(12): 1480-1487.

DU Xiaoxu,CUI Hang. Three-Dimensional Motion Simulation and Analysis for Lateral Separation of Autonomous Underwater Vehicle Load[J]. Journal of Shanghai Jiaotong University, 2017, 51(12): 1480-1487.

参考文献

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