摘要
针对未来高效的海洋作业方式,提出一种基于AUV(Autonomous Underwater Vehicle,AUV)和USV(Unmanned Surface Vehicle,USV)的一体化作业系统。基于一体化系统,设计了一种USV水面动对动回收AUV作业流程。以某便携式AUV为研究对象,仿真分析其在水面稳定航行特性,建立其相应的水动力模型,并经过外场试验验证了水动力模型和仿真结果的准确性和可靠性。以三体船型USV为仿真模型,分析USV航行尾流对其后方AUV航行在垂直面上三自由度的影响,通过仿真对比15种工况,得出USV速度、AUV速度以及舵角与回收可靠性之间的关系。
The integrated system based on AUV and USV is proposed for future efficient ocean operations.An AUV dynamic recovery process by USV on the water is designed based on integrated system.In the first step of recovery process,the portable AUV is used as the model to simulate and analyze stability of Navigation on the water.And the corresponding hydrodynamic model is established.The accuracy and reliability of the hydrodynamic model and simulation results are verified by field tests.Secondly,the influence of USV trimaran wake on vertical three degrees of freedom of AUV navigation behind USV is simulated and analyzed in dynamic recovery process.The results of simulation and comparison show that the relationship between recovery reliability and USV velocity,AUV velocity and rudder Angle is obtained under 15 working conditions.
作者
陈佳伦
谷海涛
林扬
孙原
孟令帅
CHEN Jia-lun;GU Hai-tao;LIN Yang;SUN Yuan;MENG Ling-shuai(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《舰船科学技术》
北大核心
2020年第3期77-84,共8页
Ship Science and Technology
基金
海军十三五装备预研项目(3020605040302)
中科院装备预研联合基金资助项目(6141A01061601)
中国科学院海洋信息技术创新研究院前沿基础研究项目(QYJC201913)。
