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Study on dynamic characteristics analysis of underwater dynamic docking device

机译：水下动态对接装置动态特性分析研究

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摘要

Autonomous recovery technology utilized by autonomous underwater vehicles (AUV) is facing enormous challenges resulting from rapid development. In this paper, the current research status of static and dynamic AUV docking is first introduced. Then two styles of underwater dynamic docking devices, captured-style and guided-style, are designed in accordance with two commonly used underwater docking devices. The two types of docking devices, focusing on their respective constitution characteristics, and working principles are introduced. The analysis is conducted on kinematics and movement stability. The two docking devices' dynamic characteristics are analyzed using computational fluid dynamics (CFD) software known as Star-CCM. The simulation results of the dynamic characteristics of the two docking devices are then compared. Finally, a preliminary lake test for the stable wing is carded out. Through the analysis of the two underwater dynamic docking devices' dynamic characteristics, we obtain conclusions: 1) the docking's stability is related to the relative position of hydrodynamic center point; 2) the relationship between the hydrodynamic characteristics of these two underwater docking devices and the velocity and attack angle is not exactly the same; 3) the velocity is an important factor affecting underwater dynamic docking or recycling an AUV.
机译：自主水下车辆（AUV）利用的自主恢复技术面临着快速发展造成的巨大挑战。在本文中，首先介绍了静态和动态AUV对接的当前研究状态。然后，两种风格的水下动态对接装置，捕获式和引导式，按照两个常用的水下对接装置设计。引入了两种类型的对接装置，专注于各自的构造特征和工作原理。分析在运动学和运动稳定性上进行。使用称为Star-CCM的计算流体动力学（CFD）软件分析了两个对接装置的动态特性。然后比较两个对接装置的动态特性的仿真结果。最后，绞掉稳定翼的初步湖泊试验。通过分析两种水下动态对接装置的动态特性，我们得出结论：1）对接的稳定性与流体动力中心点的相对位置有关; 2）这两个水下对接装置的流体动力学特性与速度和攻击角之间的关系并不完全相同; 3）速度是影响水下动态对接或回收AUV的重要因素。

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  • 来源
    《Ocean Engineering》 |2019年第may15期|1-9|共9页
  • 作者

    Meng Lingshuai; Lin Yang; Gu Haitao; Bai Guiqiang; Su Tsung-Chow;

  • 作者单位

    Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Peoples R China|Chinese Acad Sci Inst Robot & Intelligent Mfg Shenyang 110016 Liaoning Peoples R China|Univ Chinese Acad Sci Beijing 100049 Peoples R China;

    Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Peoples R China;

    Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Peoples R China;

    Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Peoples R China|Chinese Acad Sci Inst Robot & Intelligent Mfg Shenyang 110016 Liaoning Peoples R China|Univ Chinese Acad Sci Beijing 100049 Peoples R China;

    Florida Atlantic Univ Boca Raton FL 33431 USA;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Docking; Stability analysis; Computational fluid dynamics (CFD); Hydrodynamics; Mathematical model;

    机译：对接;稳定性分析;计算流体动力学（CFD）;流体动力学;数学模型;

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