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.
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
.
DOI: 10.1007/s12204-015-1669-9
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