Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

doi:10.1007/s12204-015-1669-9

上海交通大学学报（英文版） ›› 2015, Vol. 20 ›› Issue (5): 618-624.doi: 10.1007/s12204-015-1669-9

Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (王有江)

(1. College of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072, China; 2. Kunming Research Institute of Precision Machinery, Kunming 650224, China)

发布日期:2015-10-29
通讯作者: DU Xiao-xu (杜晓旭) E-mail:nwpudu@163.com

Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (王有江)

(1. College of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072, China; 2. Kunming Research Institute of Precision Machinery, Kunming 650224, China)

Published:2015-10-29
Contact: DU Xiao-xu (杜晓旭) E-mail:nwpudu@163.com

摘要/Abstract

摘要： Static stability analysis of the two-point mooring autonomous underwater vehicle (AUV) is presented. The mathematic model is a set of equilibrium equations describing the attitude of the AUV. The mooring lines are regarded as inelastic catenaries, and five degrees of freedom of AUV are considered. The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations. We analyze stability of the prime AUV and find that the AUV has a flow-following tendency, which makes the swing angle big. The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed, and it will weigh anchor when the speed is greater than 3 kn. Subsequent parametric study reveals the influence of the designing parameters on the stability.

关键词: autonomous underwater vehicle (AUV), two-point mooring, stability analysis, static, equilibrium equation

Abstract: Static stability analysis of the two-point mooring autonomous underwater vehicle (AUV) is presented. The mathematic model is a set of equilibrium equations describing the attitude of the AUV. The mooring lines are regarded as inelastic catenaries, and five degrees of freedom of AUV are considered. The stability of the system is represented by inequality conditions between several physical quantities and the corresponding limitations. We analyze stability of the prime AUV and find that the AUV has a flow-following tendency, which makes the swing angle big. The result shows that the two-point mooring AUV can remain stable under 2.5 kn ocean current speed, and it will weigh anchor when the speed is greater than 3 kn. Subsequent parametric study reveals the influence of the designing parameters on the stability.

Key words: autonomous underwater vehicle (AUV), two-point mooring, stability analysis, static, equilibrium equation

中图分类号:

TJ 630.1

DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (. Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle[J]. 上海交通大学学报（英文版）, 2015, 20(5): 618-624.

DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (王有江). Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle[J]. Journal of shanghai Jiaotong University (Science), 2015, 20(5): 618-624.

参考文献

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Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

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