UUV水下带缆回收纵向运动研究

Longitudinal Motion Research on UUV Underwater Recovery with a Deployable Tether

对UUV水下带缆回收运动模型进行了受力分析,并结合动力学基本原理建立了适用于UUV水下带缆回收运动的数学模型。在此基础上结合UUV水下带缆回收相关理论知识,文中提出了UUV水下带缆回收的纵向弹道规划,并对其进行了仿真研究。研究结果一方面对文中所提出的UUV水下带缆回收纵向弹道规划进行了可行性验证,另一方面总结出了UUV水下带缆回收的相关结论,具有一定工程实用价值。

Sections 1 and 2 of the full paper present the results of our research.Subsection 1.3 establishes the mathematical model of the longitudinal motion of a UUV（unmanned underwater vehicle） for its underwater recovery with a deployable tether.Section 2 explains the UUV longitudinal motion trajectory retrieving program;Tables 1 and 2 give numerical data needed in simulation.Section 3 simulates the longitudinal trajectory of the UUV underwater recovery;the simulation results,given in Figs 3 through 8,and their analysis show preliminarily that our UUV longitudinal motion trajectory retrieving program is feasible.