针对AUV在对接过程中的碰撞问题，建立AUV动力学模型和碰撞力模型，利用ADAMS虚拟样机对AUV对接过程进行动力学仿真，研究导向罩形状、AUV与对接装置的偏心距，AUV中心与对接装置中轴线的偏角，以及AUV初速度对整个对接过程的影响。仿真结果表明，较小的导向罩开口角度、较小的偏心距及较小的初速度有利于对接过程的顺利进行。利用多元非线性回归方法分析最大碰撞力与影响因素之间的关系，得到最大碰撞力与其影响因素的回归方程。
According to the collision problem in the docking process of AUV. Established AUV dynamics model and collision force model. A simulation model was built in the dynamic analysis software ADAMS(automatic dynamic analysis of mechanical systems) to imitate the docking process. Analyzed four factors that impacted on the whole docking process, including the shape of cone entrance, the gap between the center line of the AUV and the center line of the docking device, deflection angle of the AUV center and the center axis of the docking device and the initial velocity of the AUV. The simulation results showed that the small opening angle of the cone, the small gap and the small initial velocity of the AUV were beneficial to the docking process. The multivariate nonlinear regression method was used to analyze the relationship between the maximum collision force and the influencing factors, and the regression equation of the maximum collision force and its influencing factors was obtained.
2020,42(6): 89-94 收稿日期：2019-04-03
DOI：10.3404/j.issn.1672-7649.2020.06.018
分类号：P715
作者简介：王香(1995-),女,硕士研究生,研究方向为先进控制理论及应用
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