水下驻留航行器二次启动策略及影响因素

Restart strategy and influencing factors of an autonomous underwater vehicle that can park on the seabed

建立了驻留水下航行器的空间运动的运动学及动力学数学模型,结合其特点,建立了变浮力系统作用力及排水量变化数学模型、垂推作用力及控制数学模型、航行器艏艉距海底距离数学模型。在此基础上,建立了航行器海底上浮的二次启动仿真模型。提出了自由起浮、垂推控制两种二次启动策略,研究了变浮力系统注水位置对启动参数的影响。对比两种二次启动策略,分析了垂推对二次启动策略的影响。研究结果表明:航行器变浮力系统最好位于-0.6~0.6 m;安装垂推有利于航行器二次启动。研究结论为二次启动策略的设计以及航行器设计及改进提供理论依据。

Kinematic and dynamic mathematical models of spatial motion model of the AUV that can park on the seabed were established.Combined with the characteristics of this AUV,mathematic models of force and weight of variable buoyancy system,forces of vertical thrusters,the distance between seabed and bow or stern of the AUV were established.Control algorithm of vertical thrusters was designed.Based on this,restart simulation model was established.Two kinds of restart strategy of the AUV that can park on the seabed were proposed,which are taking off freely with positive buoyancy,taking off under the control of vertical thrusters.On this basis,the impact of position of water entered into the AUV on restart parameters was studied.Finally,the influences of vertical thrusters on restart strategy were analyzed through comparing different restart strategies.Results show that variable buoyancy system should be amounted at-0.6~0.6m and vertical thrusters have a positive impact on restart strategy.Results in this paper will provide theoretical basis to restart program design and the improvement of this AUV.