AUV Underwater Docking Collision Analysis and Guidance Structure Optimization Based on ADAMS Simulation

doi:10.3969/j.issn.1000-1093.2019.05.019

Abstract

Abstract: The guiding performance of a self-developed underwater docking device is analyzed based on the docking test of autonomous underwater vehicle (AUV) in Qiandao Lake. An AUV docking collision model is established using the software ADAMS based on the hydrodynamic characteristics of AUV and contact impact parameters. The effectiveness of the proposed model is verified by comparing the attitudes and velocities of AUV in the test and simulated results. The guiding capabilities of convex, conical and concave guiding covers are discussed in terms of the offset distance and included angle of AUV docking. The generatrix curvature of guiding cover was optimized to design an improved S-shaped guiding cover by analyzing the simulated results. It is found that, under the same conditions of AUV docking attitude, the maximum AUV docking offset distance adjusted by the improved S-shaped guiding cover is 100 cm, which is 20 cm longer than that adjusted by convex guiding cover, and the maximum AUV docking angle adjusted by the improved S-shaped guiding cover is 22°, which is 1° lower than that adjusted by convex guiding cover. But the impact force generated by S-shaped guiding cover and the AUV docking time both are decreased, and the effect of adjusting AUV movement trend is obviously improved. The guiding performances of the improved S-shaped cover and the convex guiding cover were validated through the AUV docking tests. The test results show that the guiding performance of the improved S-shaped guiding cover is dramatically improved. Key

Key words: autonomousunderwatervehicle, dockingcollision, ADAMSsimulation, guidingstructure, testverification

CLC Number:

TP242.3

GUO Jingqian， ZHENG Rong， L Houquan. AUV Underwater Docking Collision Analysis and Guidance Structure Optimization Based on ADAMS Simulation[J]. Acta Armamentarii, 2019, 40(5): 1058-1067.

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第40卷第5期
2019 年5月兵工学报ACTA
ARMAMENTARIIVol.40No.5May2019

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