[1] 蒋新松, 封锡盛, 王棣棠. 水下机器人[M]. 沈阳: 辽宁科学技术出版社, 2000: 1-10. JIANG X S, FENG X S, WANG D T. Unmanned underwater vehicles[M]. Shenyang: Liaoning Science and Technology Press, 2000: 1-10. (in Chinese) [2] U.S. Department of Defense. Unmanned systems integrated roadmap FY2013-2038 [EB/OL]. (2013-12-24) [2019-08-11]. https:∥info.publicintelligence.net/DoDUnmannedRoadmap-2013.pdf. [3] PISKURA J C, PURCELL M, STOKEY R, et al. Development of a robust line capture, line recovery (LCLR) technology for auto-nomous docking of AUVs[C]∥Proceedings of OCEANS'16 MTS/IEEE Conference. Monterey CA, US: IEEE, 2016: 1-5. [4] MENG L S, LIN Y, GU H T, et al. Study on the mechanics characteristics of an underwater towing system for recycling an autonomous underwater vehicle (AUV)[J]. Applied Ocean Research, 2018, 79: 123-133. [5] KWAN C. Autonomous launch, recovery and servicing of UUVs from unmanned surface vessels[R/OL]. Beltsville, MD, US: Advanced Technology & Research Corporation. [2019-07-19]. http:∥www.atrcorp.com. [6] STEFANO B, CHRYSSOSTOMOS C. Design of an unconventional ASV for underwater vehicles recovery: simulation of the motions for operations in rough seas[C]∥Proceedings of ASNE Launch and Recovery Symposium. Linthicum, MD, US: ASNE, 2012: 1-8. [7] EDOARDO I S, MANHAR R D. A USV-based automated launch and recovery system for AUVs[J]. IEEE Journal of Oceanic Engineering, 2017, 42(1): 37-55. [8] 郑荣, 宋涛, 孙庆刚, 等. 自主式水下机器人水下对接技术综述[J]. 中国舰船研究, 2018, 13(6): 43-49, 65. ZHENG R, SONG T, SUN Q G, et al. Review on underwater docking technology of AUV[J]. Chinese Journal of Ship Research, 2018, 13(6): 43-49, 65. (in Chinese) [9] MIRANDA M. Mobile docking of REMUS-100 equipped with USBL-APS to an unmanned surface vehicle: a performance feasibility study[D]. Boca Raton, FL, US :Florida Atlantic University, 2014: 52-59. [10] CIRCLE B N. Underwater mobile docking of autonomous underwater vehicles[C]∥Proceedings of OCEANS' 12 MTS /IEEE Conference. Hampton Roads, VA, US: IEEE, 2012: 1-15. [11] 杜俊, 谷海涛, 孟令帅,等. 面向USV的AUV自主回收装置设计及其水动力分析[J]. 工程设计学报, 2018, 25(1): 35-42. DU J, GU H T, MENG L S, et al. Design and hydrodynamic analysis of AUV self-recovery device for USV[J]. Chinese Journal of Engineering Design, 2018, 25(1): 35-42. (in Chinese) [12] GU H T, MENG L S, et al. Automated recovery of the UUV based on the towed system by the USV[C]∥Proceedings of OCEANS'18 MTS /IEEE Conference. Kobe, Japan: IEEE, 2018: 1-7. [13] MENG L S, LIN Y, GU H T, et al. Study on dynamic characteristics analysis of underwater dynamic docking device[J]. Ocean Engineering, 2019, 180:1-9. [14] 朱 鹏飞. 水面平台布放回收USV和UUV技术[EB/OL]. (2017-06-22) [2019-08-11]. http:∥www.360doc.com/content /17/062 2/08/1544 7134_665420671.shtml. ZHU P F. Technology for surface platform placement and recovery of USV and UUV[EB/OL]. (2017-06-22) [2019-08-11]. http:∥www.360doc.com/content/17/0622/08/15447134_665420671.shtml. [15] 施生达. 潜艇操纵性[M]. 北京: 国防工业出版社, 1995: 51-70. SHI S D. Submarine maneuverability[M]. Beijing: National Defense Industry Press, 1995: 51-70. (in Chinese) [16] ABKOWITZ M A. Stability and motion control of ocean vehicles[M]. Cambridge, MA, US:MIT Press, 1969: 32-50. [17] JOHN D A. Computational fluid dynamics: the basics with applications[M]. New York, NY, US: McGraw-Hill Education, 1995: 1-20. [18] WATT G D, BAKER C R. Scripted hybrid mesh adaption for high incidence RANS flows about axisymmetric shapes[C]∥Proceedings of the 44th AIAA Aerospace Sciences Meeting and Exhibit. Reno, NV, US: AIAA, 2006. [19] WATT G D. ANSYS CFX-10 RANS normal force predictions for the series 58 model 4621 unappended axisymmetric submarine hull in translation[R]. Canada: DRDC, 2006. [20] BETTLE M C, GERBER A G, WATT G D, Unsteady analysis of the six DOF motion of a buoyantly rising submarine[J]. Compu-ters & Fluids, 2009,38(9): 1833-1849. [21] TU J Y, GUAN H Y, LIU C Q. Computational fluid dynamics: a practical approach[M]. Boston, MA, US: Butterworth-Heinemann, 2008: 1-10. [22] 李雪剑, 刘志军, 刘戈,等. 考虑自由表面的组合拖曳体阻力计算与设计优化[J]. 大连理工大学学报, 2017, 57(4): 376-382. LI X J, LIU Z J, LIU G,et al. Resistance calculation and optimization design for composite towed vehicle considering free surface[J]. Journal of Dalian University of Technology, 2017, 57(4): 376-382. (in Chinese) [23] 张海亭. 面向USV自主回收AUV的拖曳装置研究[D]. 沈阳: 东北大学, 2018. ZHANG H T. Research on a towing device for autonomous recovery of the AUV by the USV[D]. Shenyang: Northeastern University, 2018. (in Chinese) [24] WALTON T S, POLACHECH H. Calculation of transient motion of submerged cables[J]. Mathematics of Computation, 1960,14: 27-46. [25] CANNON T C, GENIN J. Dynamic behavior of a materially damped flexible towed cable[J]. Aeronautical Quarterly, 1972, 32(2): 109-120. [26] LEONARD J W, RECHER W W. Nonlinear dynamics of cables with low initial tension[J]. Journal of the Engineering Mechanics Division, 1972, 98(2): 293-309. [27] DELMER T N, STEPHENS T C, COE J M. Numerical simulation of towed cables[J ]. Ocean Engineering, 1983, 10(2): 119-132. [28] SANDERS J V. A three-dimensional dynamic analysis of a towed system[J]. Ocean Engineering. 1982, 9(5): 483-499. [29] DELMER T N, STEPHEN T C, et al. Numerical simulation of cable-towed acoustic arrays[J]. Ocean Engineering, 1988,15(6): 511-548. [30] SUN Y, LEONARD J W, CHIOU R B. Simulation of unsteady oceanic cable deployment by direct integration with suppression[J]. Ocean Engineering. 1994, 21(3): 243-256. [31] 朱克强, 李道根. 海洋缆体系统的统一凝集参数时域分析法[J]. 海洋工程, 2002, 20(2): 100-104. ZHU K Q, LI D G. Lumped parameter analysis method for time-domain of ocean cable-body systems[J]. The Ocean Engineering, 2002, 20(2): 100-104. (in Chinese) [32] ABLOW C M, SCHECHTER S. Numerical simulation of undersea cable dynamics[J]. Ocean Engineering, 1983, 10(6): 443-457. [33] 李英辉, 戴杰, 李喜斌,等. 拖曳系统静态构型的快速算法[J]. 船舶工程, 2001(4): 36-38,60. LI Y H, DAI J, LI X B, et al. An effective algorithm for the static shape of a towed system[J]. Ship Engineering, 2001(4): 36-38,60. (in Chinese) [34] 羊云石, 顾海东, 凌国民. 缆阵拖曳系统的计算方法改进[J]. 声学与电子工程, 2011(1): 29-31,35. YANG Y S, GU H D, LING G M. An improved calculation method for cable array towing system[J]. Acoustics and Electronics Engineering, 2011(1): 29-31,35. (in Chinese) [35] 李英辉, 李喜斌, 戴杰,等. 拖曳系统计算中拖缆与拖体的耦合计算[J]. 海洋工程, 2002, 20(4):37-42. LI Y H, LI X B, DAI J, et al. Calculation of coupling between the cable and the towed-body in the towed system[J]. The Ocean Engineering, 2002, 20(4):37-42. (in Chinese) [36] WU J M, CHWANG A T. A hydrodynamic model of a two-part underwater towed system[J]. Ocean Engineering, 2000, 27(5): 455-472. [37] 吴家鸣, 张年方, 叶家玮,等. 二体水下拖曳系统的试验研究[J]. 华南理工大学学报(自然科学版), 2001,29(2):11-14. WU J M, ZHANG N F, YE J W, et al. An experimental study of a two-part underwater towed system[J]. Journal of South China University of Technology (Natural Science Edition), 2001,29(2): 11-14. (in Chinese) [38] HUSTON R L, KAMMEN J W. Validation of finite segment cable models[J]. Computers and Structures, 1982, 15(6): 653-660. [39] KAMMEN J W, HUSTON R L. Modeling of submerged cable dynamics[J]. Computers and Structures, 1985, 20: 623-629. [40] 李天森. 鱼雷操纵性[M]. 北京:国防工业出版社, 2007. LI T S. Torpedo maneuverability[M].Beijing: National Defense Industry Press, 2007. (in Chinese) [41] 廖世俊, 顾云冠, 朱继懋. 6000m深海拖曳系统动力响应计算[J]. 海洋工程, 1995,13(2): 31-37. LIAO S J, GU Y G, ZHU J M, et al. The numerical simulation of the dynamic properties of the towed system in deep sea (6000 meter)[J]. The Ocean Engineering, 1995,13(2): 31-37. (in Chinese) [42] 王志博. 多段式拖曳系统低张力缆段隔振方法研究[J]. 振动与冲击, 2019,38(8): 255-261. WANG Z B. A vibration isolation method of low tensional cables in a multi section towed cable system[J]. Journal of Vibration and Shock, 2019,38(8): 255-261. (in Chinese) [43] ZHANG H T, GU H T, LIN Y, et al. Design and hydrodynamic analysis of towing device of the automated recovery of the AUV by the USV[C]∥Proceedings of the IEEE International Conference on Information and Automation. Wuyi Mountain, China: IEEE, 2018: 416-421. [44] 郑智林, 苑志江, 金良安, 等. 舰船机动中拖曳系统建模与定深控制研究[J]. 兵器装备工程学报, 2016, 37(4): 106-110. ZHENG Z L, YUAN Z J, JIN L A, et al. Mathematic model and depth control of special underwater towed system during warship maneuvers[J]. Journal of Ordnance Equipment Engineering, 2016, 37(4): 106-110. (in Chinese) [45] WANG S X, WANG Y H, LI X P. Dynamic analysis of towed and variable length cable systems[J]. China Ocean Engineering, 2007, 21(2): 331-341. [46] 王海波, 王庆丰. 水下拖曳升沉补偿系统水动力数学模型研究[J]. 海洋工程, 2008, 26(4): 77-83. WANG H B, WANG Q F. Study on dynamic model of underwater towed heave compensation system[J]. The Ocean Engineering, 2008, 26(4): 77-83. (in Chinese) [47] 张潞怡, 朱继懋. 深海拖曳系统运动响应的理论研究[J]. 海洋学报, 1997, 19(2): 99-106. ZHANG L Y, ZHU J M. Theoretical research on the motion response of deep-sea towing system[J]. Acta Oceanologica Sinica, 1997, 19(2): 99-106. (in Chinese) [48] 孙烨, 司先才, 裴建新,等. 一种水下拖曳体的运动特性模拟研究[J]. 船舶工程, 2018, 40(增刊1): 336-340. SUN Y, SI X C, PEI J X, et al. Simulation study of dynamic characteristics of one underwater towed vehicle[J]. Ship Engineering, 2018, 40(S1): 336-340. (in Chinese) [49] WANG Z, SUN G. Parameters influence on maneuvered towed cable system dynamics[J]. Applied Ocean Research, 2015, 49: 27-41. [50] CHAPMAN D A. Towed cable behavior during ship turning maneuvers[J]. Ocean Engineering, 1984(11): 357-361. [51] MARK A G. Transient behavior of towed cable systems during ship turning maneuvers[J]. Ocean Engineering, 2007,34(11/12): 1532-1542. [52] DRISCOLL F R, NAHON M, LUECK R G. A comparison between ship-mounted and cage-mounted passive heave compensation systems[C]∥Proceedings of the IEEE OCEANS’ 98 Conference. Nice, France: IEEE, 2000: 1449-1454. [53] QUAN W C, LIU Y S, ZHANG A Q, et al. The nonlinear finite element modeling and performance analysis of the passive heave compensation system for the deep-sea tethered ROVs[J]. Ocean Engineering, 2016, 127: 246-257. [54] 李世振, 魏建华,胡波, 等. 主动式水下拖曳升沉补偿系统的非线性控制[J]. 中南大学学报(自然科学版), 2018, 49(3): 612-617. LI S Z, WEI J H, HU B,et al. Nonlinear control of active heave compensator for an underwater towed system[J]. Journal of Central South University (Science and Technology), 2018, 49(3): 612-617. (in Chinese) [55] 刘启帮. 水下高速拖体流体动力性能研究[D]. 北京:中国舰船研究院, 2016. LIU Q B. Research on hydrodynamics properties of underwater high-speed tow-fish[D]. Beijing: China Ship Research and Development Academy, 2016. (in Chinese) [56] 彼得·艾伯哈特, 胡斌. 现代接触动力学[M]. 南京: 东南大学出版社, 2003. PETER E, HU B. Advanced contact dynamics[M]. Nanjing: Southeast University Press, 2003. (in Chinese) [57] STRONGE W J. Rigid body collisions with friction[J]. Proceedings of the Royal Society A: Mathematical and Physical Sciences, 1990, 431(1881): 169-181. [58] BRACH, RAYMOND M. Rigid body collisions[J]. Journal of Applied Mechanics, 1989, 56(1):133-138. [59] 金栋平, 胡海岩. 碰撞振动与控制[M]. 北京: 科学出版社, 2008, 52-100. JIN D P, HU H Y. Collision vibration and control [M]. Beijing: Science Press, 2008, 52-100. (in Chinese) [60] 史剑光, 李德骏, 杨灿军, 等. 水下自主机器人接驳碰撞过程分析[J]. 浙江大学学报(工学版), 2015, 49(3): 497-504. SHI J G, LI D J, YANG C J, et al. Impact analysis during docking process of autonomous underwater vehicle [J]. Journal of Zhejiang University (Engineering Science), 2015, 49(3): 497-504. (in Chinese) [61] ZHANG T, LI D J, YANG C J. Study on impact process of AUV underwater docking with a cone-shaped dock[J]. Ocean Engineering, 2017, 130: 176-187. [62] WU L H, LI Y P, SU S J, et al. Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents[J]. Ocean Engineering, 2014, 85: 110-126. [63] 潘光, 李海志, 刘敏. 高海况下AUV回收过程力学特性研究[J]. 机械与电子, 2013(6): 21-25. PAN G, LI H Z, LIU M. Study of mechanical properties of AUV recovery process under high sea conditions[J]. Machinery and Electronics, 2013(6):21-25. (in Chinese) [64] 苏玉民, 赵金鑫, 张磊,等. 潜艇搭载AUV回收过程中水动力干扰预报[J]. 华中科技大学学报(自然科学版), 2013, 41(11): 85-90. SU Y M, ZHAO J X, ZHANG L, et al. Forecasting hydrodynamic interaction when AUV recovered by submarine[J]. Journal of Huazhong University of Science and Technology (Nature Science Edition), 2013, 41(11): 85-90. (in Chinese) [65] 孙叶义, 武皓微, 李晔, 等. 智能无人水下航行器水下回收对接技术综述[J]. 哈尔滨工程大学学报, 2019, 40(1): 1-11. SUN Y Y, WU H W, LI Y, et al. Summary of AUV underwater recycle docking technology[J]. Journal of Harbin Engineering University, 2019, 40 (1) : 1-11. (in Chinese) [66] KAWASAKI T, FUKASAWA T, NOGUCHI T, et al. Development of AUV Marine Bird with underwater docking and recharging system[C]∥Proceedings of the 3rd International Workshop on Scientific Use of Submarine Cables and Related Technologies. Tokyo, Japan: IEEE, 2003. [67] 刘陈展. 面对回坞的AUV导航和路径规划研究[D]. 杭州:浙江大学, 2016. LIU C Z, Research on docking oriented AUV navigation and path planning[D].Hangzhou: Zhejiang University, 2016. (in Chinese) [68] FEEZOR M D, BLANKINSHIP P R, BLANKINSHIP P R, et al. Autonomous underwater vehicle homing/docking via electromagnetic guidance[C]∥Proceedings of OCEANS’ 97 MTS/IEEE Conference. New York, NY, US: IEEE, 1997: 1137-1142. [69] STENTZ A. Optimal and efficient path planning for unknown and dynamic environments[J]. International Journal of Robotics & Automation, 2010,10(3): 89-100. [70] KROGH B H, THORPE C E. Integrated path planning and dynamic steering control for autonomous vehicles[C]∥Proceedings of IEEE International Conference on Robotics & Automation. San Francisco, CA, US: IEEE, 1986: 1664-1669. [71] XIAO J, MICHALEWICZ Z, ZHANG L, et al. Adaptive evolutionary planner/navigator for mobile robots[J].IEEE Transactions on Evolutionary Computation, 1997, 1(1): 18-28. [72] 孙靖民, 梁迎春. 机械优化设计[M]. 北京: 机械工业出版社, 2012. SUN J M, LIANG Y C. Optimal design of machine[M]. Beijing: China Machine Press, 2012. (in Chinese) [73] 张医博, 唐元贵, 要振江. 便携式AUV水下对接过程中的碰撞分析与罩式对接平台优化设计[J]. 海洋技术学报, 2017,36(5): 27-31. ZHANG Y B, TANG Y G, YAO Z J. The collision analysis of portable AUV underwater docking and optimal design of the docking platform[J]. Journal of Ocean Technology, 2017,36(5): 27-31. (in Chinese) [74] 国婧倩, 郑荣, 吕厚全. 基于ADAMS仿真的自主水下机器人入坞碰撞分析与导向结构优化研究[J]. 兵工学报, 2019, 40(5): 1058-1067. GUO J Q, ZHENG R, L H Q. AUV underwater docking collision analysis and guidance structure optimization based on ADAMS simulation[J]. Acta Armamentarii, 2019, 40(5): 1058-1067. (in Chinese) [75] 燕奎臣, 吴利红. AUV水下对接关键技术研究[J]. 机器人, 2007, 29(3): 267-273. YAN K C, WU L H. A survey on the key technologies for underwater AUV docking[J]. Robot, 2007, 29(3): 267-273. (in Chinese)
|