自主式水下航行器（AUV）越来越广泛应用于携带、布放载荷。介绍一种AUV两侧对称携带载荷的布置方法，对AUV与载荷分离过程做简单说明。通过对AUV携带2种不同重量的载荷海上航行实验数据分析，验证了采用该布置方案，载荷分离可靠，且对AUV水中航行姿态影响不大；同时，携带载荷水中重量越大，载荷分离对AUV水中航行时的横滚角影响越大。
Autonomous underwater vehicle (AUV) was used to carry and release loads more widely, introduced a kind of AUV which carry loads in two sides symmetrically, and illustrated the separation process of AUV and loads simply. Through analyzing to the data of AUV navigation experiment carried two different weight loads, verified the loads separation was reliable, and the influence to the AUV navigation attitude was little using this method; meanwhile the weight of carried loads was heaveier, the influence to the roll angle of AUV navigating by water was more significant.
2018,40(3): 146-149 收稿日期：2017-08-10
DOI：10.3404/j.issn.1672-7649.2018.03.027
分类号：U661.7
作者简介：付佳杰(1985-),男,硕士,工程师,主要从事水下机器人结构和总体设计
参考文献：
[1] 陈强, 张林根. 美国军用UUV现状及发展趋势分析[J]. 舰船科学技术, 2010, 32(7):129-134.CHEN Qiang, ZHANG Lin-gen. Analysis of current situational development trend of US military UUV[J]. Ship Science and Tecnology, 2010, 32(7):129-134.
[2] 郭凤水, 袁思鸣, 刘强. 军用UUV使命任务和装备性能分析[J]. 中国舰船研究, 2007, 2(5):76-80.GUO Feng-shui, YUAN Si-ming, LIU Qiang. Development of unmanned underwater vehicle-their missions and capabilities[J]. Chinese Journal of Ship Research, 2007, 2(5):76-80.
[3] 陈强, 兰晓娟, 王霜. 国外UUV系统在海洋调查中的应用[J]. 舰船科学技术, 2012, 34(10):133-136.CHEN Qiang, LAN Xiao-juan, WANG Shuang. Applications of foreign unmanned underwater vehicles in oceanographic survey[J]. Ship Science and Tecnology, 2012, 34(10):133-136.
[4] 潘瑛, 徐德民, 宋保维, 等. AUV水下分离运动及分离方式研究[J]. 西北工业大学学报, 2004, 22(4):505-509.PAN Ying, XU De-min, SONG Bao-wei, et al. On the kinematics and mode selection for separation motion of AUV[J]. Journal of Northwestern Ploytecnical University, 2004, 22(4):505-509.
[5] 潘光, 魏静, 陈诚. 载荷AUV进水过程分析及分离运动仿真[J]. 西北工业大学学报, 2014, 32(4):576-580.PAN Guang, WEI Jing, CHEN Cheng. Water injection analysis and separation motion simulation of AUV with payload[J]. Journal of Northwestern Ploytecnical University, 2014, 32(4):576-580.
[6] 宋保维, 赵娥, 李家旺. AUV载荷分离方法及安全性研究[J]. 计算机仿真, 2009, 26(1):174-177.SONG Bao-wei, ZHAO E, LI Jia-wang. Method and safty of load separation of AUV[J]. Computer Simulation, 2009, 26(1):174-177.
[7] 余德海, 潘光, 邵成, 等. AUV载荷分离运动仿真研究[J]. 弹箭与制导学报, 2006, 26(2):625-627.YU De-hai, PAN Guang, SHAO Cheng, et al. Simulation of AUV's load separation[J]. Journal of Projectiles, Rockets, 2006, 26(2):625-627.
[8] 郑荣, 常海龙. 浮力调节系统在作业型AUV上的应用研究[J]. 微计算机信息, 2006, 22(6):207-209.ZHENG Rong, CHANG Hai-long. Applied research of the buoyancy regulating system on work AUV[J]. Control and Automation, 2006, 22(6):207-209.
[9] 付佳杰, 胡玉梅, 杨海鹏, 等. 水下弹簧活塞式浮力补偿装置:中国, CN201410509841.5[P]. 2015-03-25.FU Jia-jie, HU Yu-mei, YANG Hai-peng, et al. Underwater spring piston buoyancy compensation device[P]:Chinese patent, CN201410509841.5. 2015-03-25.
