不同分离方式下AUV载荷分离运动的安全性分析

Security of AUV's Separation Motion in Two Separation Modes

考虑到分离运动中载荷与运载体之间的相互影响,建立了在不同分离方式下具有同一形式的多刚体运动方程,基于分离后载荷与运载体之间的距离理论,提出了一种分离安全度模型,对不同分离方式下的分离安全性进行了定量分析。结果表明,当运载体为正浮力且无控时,采用推冲分离方式进行分离不会发生碰撞,且在一定条件下较重力解脱方式为优。

An autonomous underwater vehicle （AUV） consists of load and launcher. We adopt two separation modes. Mode 1 using thrust force between load and launcher and Mode 2 using load＇s gravity. Considering the interaction between load and launcher in the course of separation motion, we derive the equations of motion for the multi-rigid body. We establish a security model for separation motion and then we derive eq. （8） in the full paper for calculating the minimum distance Ω between load and launcher after complete separation. We also discuss quantitatively the influence of the minimum distance on the security of AUV＇s separation motion in Mode 1 and Mode 2 respectively. The discussion results, shown in Figs. 4 and 5 and Tables 1 and 2 in the full paper, indicate preliminarily that, under the condition that the launcher has positive buoyancy and no control, collision is avoidable in Mode 1, and the separation security in Mode 1 is higher than that in Mode 2 under certain conditions.