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浙江大学学报(工学版)
浙江大学学报(工学版)
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水下自主机器人接驳碰撞过程分析
史剑光,李德骏,杨灿军,蔡业豹
浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027
Impact analysis during docking process of autonomous underwater vehicle
SHI Jian-guang, LI De-jun, YANG Can-jun, CAI Ye-bao
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027,China
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摘要：

为了保证水下自主航行器(AUV)接驳过程的顺利进行,对一种新型喇叭状开口型接驳系统的接驳碰撞过程进行分析,从而为接驳系统的结构设计和参数选择提供依据.在详细分析AUV的水下受力状况和碰撞参数的基础上,在动力学分析软件ADAMS中建立仿真模型,并探讨喇叭口的形状、喇叭口和AUV导流罩的材质、AUV的推进力以及AUV的初始位置对接驳过程的影响.以顺利进入喇叭口、碰撞过程的最大碰撞力和从碰撞开始到接驳完成所用时间为衡量标准,进行多次仿真,发现：较小的喇叭口开口角度刚度小、阻尼系数较大、表面光滑的材质以及较小的偏距均有利于接驳过程的顺利进行,而推进力的变化对接驳过程的影响较小.通过比较AUV在碰撞开始前的不同初始位置和偏角下碰撞过程初始姿态下的试验结果和仿真结果,验证仿真模型的有效性.
Abstract:

Impact characteristics during the docking process of a new cone-type autonomous underwater vehicles (AUV) docking system was analyzed in order to ensure the successful docking of autonomous underwater vehicle. Results helped to support docking system design and parameter selection. A simulation model was built in the dynamic analysis software ADAMS (automatic dynamic analysis of mechanical systems) based on the hydrodynamic characteristics of  AUV and impact parameters. Four factors that were supposed to impact on the docking process were studied, including the shape of  cone entrance, the materials of  cone and  AUV nose, the propulsion force of  AUV  and the initial attitude of  AUV. The quality of  docking process is evaluated by  AUV entering the cone successfully, the maximum impact force during the process, and time spent from the beginning of impact to the finish of docking. It was found that small opening angle of the cone, small stiffness, big damping coefficient,  good smoothness of  materials and small cross-track deviation can contribute to successful docking process, whereas propulsion force has relatively small effect on the process. The simulation model was validated by comparing the experiment results and the simulation results under different positions and angles of AUV before  impact initiates.
出版日期: 2015-08-28
:  TH 69  
基金资助:

国家“863”高科技研究发展计划资助项目(2013AA09A414); 国家自然科学基金创新研究群体科学基金资助项目（51221004);浙江大学“985工程”海洋学科建设资助项目（2012HY003A)
通讯作者: 杨灿军，男，教授     E-mail: ycj@zju.edu.cn
作者简介: 史剑光(1986-)，男，博士生，从事深海机电设备和非接触电能传输设备研究. E-mail: sjg305@zju.edu.cn
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引用本文:

史剑光,李德骏,杨灿军,蔡业豹. 水下自主机器人接驳碰撞过程分析[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.03.015.

SHI Jian-guang, LI De-jun, YANG Can-jun, CAI Ye-bao. Impact analysis during docking process of autonomous underwater vehicle. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.03.015.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.03.015    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I3/497

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