Dynamic modeling and analysis of underwater mooring levitation motion of AUV docking system
Underwater docking is a critical technology for the energy replenishment and data exchange of autonomous underwater vehicles(AUV).In order to improve the success rate of docking,a novel open-and-close docking device was de-signed,focusing on the improvement of the docking method involving a towed guide hood.To analyze whether this device meets the docking requirements,this paper,based on the analysis of the centroid displacement of the mechanism and the Newton-Euler dynamics theory,establishes a six-degree-of-freedom underwater motion model for the docking device with variable mass distribution characteristics.The tether is simplified into a variable stiffness-damping lightweight spring model.Combining the motion of the tether with force boundary conditions,a system cable-body coupling motion model is estab-lished.Additionally,a dynamic simulation model for the mooring-suspension connection system is created using computa-tional fluid dynamics(CFD)software STAR-CCM+.The effectiveness of the two methods is verified through a drag experi-ment,with the simulation results showing a better correlation with experimental data,reaching a maximum correlation coef-ficient of 0.9367.Finally,utilizing the dynamic simulation model,the paper thoroughly analyzes the effects of external wa-ter flow,wave disturbances,changes in the towing point of the connection device,and the opening and closing of the guide cover on the motion state of the connection device.It is observed that the wave amplitude should not exceed 0.2 m for optim-al performance.Moreover,when the tow frame is fixed,the connection device is more favorable,and the opening and clos-ing of the guide cover have a minimal impact on the attitude angle of the connection device,while significantly influencing its position.
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