水下驻留航行器锚泊过程动态运动仿真

Dynamic modeling and simulation of unmanned underwater vehicle mooring on seabed

基于集中质量法的基本原理以及水下航行器六自由度运动仿真数学模型,建立了锚泊型水下驻留航行器与缆绳耦合运动的三维数学模型.模型中以缆绳微元的姿态角为基准,提出了一种较为合理的缆绳三维曲率离散化方法,给出了缆绳离散节点处的曲率及弯矩,并将离散化弯矩的影响计入到耦合运动模型中.采用龙格-库塔积分求解运动模型,以预报分析驻留航行器在锚泊过程中各种动态运动响应.

According to the principle of lumped mass approximation and the movement characteristics of the unmanned underwater vehicle（UUV）,a three-dimensional mathematical model was established,in which the UUV was coupling considered with the cable.In this mathematical model,the cable element′s attitude angle was considered as a benchmark to put forward a reasonable method to discrete the vector of curvatures along the cable.Once this was accomplished,the bending terms of the governing motion equations can be calculate easily.The mathematical model was then deduced with the method of Runge-Kutta integration to predict and analyze the dynamic response during the mooring process.