Aiming at the problem that the load swing amplitude is too large in the recovery operation of autonomous underwater vehicle(AUV)under high sea conditions,a retractable anti-swing device based on magnetorheological damper is designed and placed on the A-frame of the ship.The dynamic mechanical relationship between the swing angle and the magnetorheological damper is analyzed,and the dynamic model of the anti-swing device under the rolling and pitching conditions is established.The co-simulation results of Simulink-Adams software show that under three different working conditions,the average swing rejection rate of the anti-swing device under the control of time-varying current strategy is more than 70％higher than that without anti-swing measures,and the energy consumption is more than 50％lower than that under the constant current strategy.The effectiveness of the anti-swing device is verified by simulation,which provides a theoretical basis for the next experiment.
关键词
水下机器人(AUV)/布放回收/动力学分析/磁流变阻尼器/防摆控制/Adams软件/电流控制策略
Key words
autonomous underwater vehicle(AUV)/dynamic analysis/magnetorheological damper/anti-swing control/Adams software/current control strategy
维普
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