AUV水下对接安全性分析
首发时间:2016-05-17
摘要:随着AUV水下对接技术的不断发展,对于AUV进出对接管的安全性的研究就显得尤为重要,本文主要针对AUV进出管的安全性进行研究。基于第二类拉格朗日方法,分别对AUV在进管和出管两种运动状态进行了运动学和动力学分析,同时在对AUV的受力分析过程中,通过虚位移原理计算了AUV受到的广义力,并最终建立了AUV在进出管过程中的运动模型。最后,基于所建立的AUV进出管过程中的运动模型,对AUV进管和出管的运动过程进行了仿真研究,研究结果表明AUV重心位置和负浮力对AUV进出管运动的安全性有较大影响。
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Security Analysis for Underwater AUV Docking
Abstract:With the continuous development of AUV docking technology, the study of security of AUV entering and leaving of dock is particularly important. This paper mainly studied the security of AUV entering and leaving of the dock. Based on the second lagrange method, the kinematics and dynamics analysis of two states of AUV motion, that entering and leaving of the tube, respectively had been analyzed. In the process of AUV force analysis, the generalized force is developed through the principle of virtual displacements, and eventually established the AUV dynamic model of two states of motion. Finally, based on the dynamic model and kinematics model established above, the motion of AUV entering and leaving of the dock was simulated. The simulation results show that the position of the center of gravity and negative buoyancy have a greater influences on the safety of AUV entering or leaving the dock.
Keywords: Theoretical Mechanics Underwater Docking Security Analysis
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