Design and Simulation of AUV Retracting Anti-Swing Device Based on Magnetorheological Technology
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.
autonomous underwater vehicle(AUV)dynamic analysismagnetorheological damperanti-swing controlAdams softwarecurrent control strategy
万方数据
维普
