摘要
为了对形状尺寸受限的自主式水下航行器(AUV)回收装置导向喇叭口进行合理设计,分析了弹簧模型和弹簧-阻尼模型2种接触力模型对计算的影响,研究了喇叭口剖面半径和初始偏移量对回收接触力和回收时间的影响规律,提出了喇叭口的设计评价方法。在六自由度运动一般表达式的基础上结合接触力模型,建立回收过程中的AUV运动方程,设计适用于接触力的时间离散求解程序,在MATLAB环境下对AUV回收过程进行计算。结果表明,阻尼在接触模型中的作用有利于回收的顺利进行;增加喇叭口剖面半径对减小接触力和回收时间均具有积极影响;综合评价系数可用于综合考量设计指标以确定喇叭口剖面半径。
To reasonably design the recovery device＇s guiding cone, whose shape and size are restricted for an autonomous undersea vehicle（AUV）, the influences of the ＂elastic＂ and ＂elastic-damping＂ contact force models on the calculation are analyzed, and the influence of the guiding cone＇s profile radius and initial offset on the recovery contact force and the recovery time are investigated, hence an evaluation method of the design of guiding cone is put forward. The general expression of six-degree-of-freedom motion and the contact force model are employed to establish the AUV motion equations in the recovery process, and a time discrete solution program that adapts to the contact force is designed to calculate the AUV recovery process on the software MATLAB. The results show that： 1） the damping in the contact model is conducive to the recovery process; 2） the increase in the profile radius has positive effect on reducing both contact force and recovery time, and 3） The comprehensive evaluation coefficient can be applied to comprehensively evaluating the design specification to determine the profile radius.
作者
赵国良
许可
赵春城
范华涛
姚晨佼
ZHAO Guo-liang;XU Ke;ZHAO Chun-cheng;FAN Hua-tao;YAO Chen-jiao(State Key Laboratory of Deep-sea Manned Vehicles, China Ship Scientific Research Center, Wuxi 214082, China)
出处
《水下无人系统学报》
北大核心
2018年第2期166-173,共8页
Journal of Unmanned Undersea Systems
