针对强天气条件下相关参数难以获取，提出一种由水面智能拖体、水下高机动AUV和高强度拖缆组成的“水下风筝”式三体AUV，有望实现台风现场海气界面与上层水体同步探测。为探究高海况下“水下风筝”式AUV技术可行性，对其在波浪影响的力学响应特性进行分析，建立基于微振幅波理论和经典多体刚柔结构动力学建模方法的“水下风筝”式AUV动力学模型，采用数值模拟方法获得了不同拖曳速度、不同海况等级下AUV端受力和深度值，结果表明从力学角度当前技术条件可满足“水下风筝”式AUV高海况下同步观测需求。
In response to the problem of difficulty in obtaining relevant parameters under extreme weather conditions, an innovative underwater-kite AUV is proposed, which is composed of a surface intelligent towed body, an underwater highly mobile AUV and a high-strength towing cable, and is expected to achieve simultaneous detection of the sea-air interface and the upper water column at the typhoon site. In order to investigate the technical feasibility of the underwater-kite AUV under high sea state, an analysis of its mechanical response characteristics under the influence of waves was carried out, and an underwater-kite AUV dynamics model based on micro-amplitude wave theory and classical multi-body rigid-flexible structure dynamics modeling method was established. Numerical simulation was used to obtain the force and depth values of the AUV at different towing speeds and sea state levels, and the results showed that the current technical conditions can meet the demand for simultaneous observation of the underwater-kite AUV in high sea state from the mechanical point of view.
2024,46(4): 78-87 收稿日期：2023-03-04
DOI：10.3404/j.issn.1672-7649.2024.04.016
分类号：U674.941
基金项目：机器人学国家重点实验室自主课题资助（2021-Z07）；国家自然科学基金面上项目（41976183）
作者简介：张行健(1996-),男,硕士研究生,研究方向为新概念海洋机器人技术
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