自主水下航行器的分离运动安全性研究

Separation Motion's Security of Autonomous Underwater Vehicle

为给自主水下航行器(AUV)的分离方式选择提供理论依据,对重力解脱方式和推冲分离方式下AUV的分离运动安全性进行了定量分析。考虑到载荷与运载体之间相互影响的差异,利用多刚体力学原理,建立了两种方式下的AUV分离运动方程。根据彻底分离后载荷与运载体之间的相对距离检测,提出了一种分离安全度模型。结果表明,当载荷的重力大于浮力时,前种方式下的分离安全度随着分离前速度或辅助推力的增加而提高,预定分离角过大或过小会使其降低;对于后种方式,在低速、大推冲力条件下其分离安全性较前种方式高,在高速时则可能导致碰撞。

In order to provide theoretical basis for selecting an autonomous underwater vehicle＇s （AUV＇s） separation mode from the load＇s gravity release mode and the push-thrust separation one, the separation motion＇s security of AUV was analyzed quantitatively. According to the differences of interaction between load and carrier, kinetic equations of AUV＇s separation motion in the two modes were derived by using multi-rigid body mechanics principle. The separation motion＇s security model was proposed based on the shortest distance measurement between load and carrier after separating them thoroughly. The results show that, when load＇s gravity is greater than its buoyancy, separation motion＇s security increases with increasing initial separation velocity or accessional thrust force and decreases while the set separation angle is too large or too small for the former mode; for the latter mode, the separation motion＇ s security is higher than that of the former mode at low initial separation velocity and strong thrust force, the high initiation velocity can lead to collision.