Influence of Profile Radius of Guiding Cone on Recovery of AUV

ZHAO Guo-liang; XU Ke; ZHAO Chun-cheng; FAN Hua-tao; YAO Chen-jiao

doi:10.11993/j.issn.2096-3920.2018.02.011

Volume 26 Issue 2

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ZHAO Guo-liang, XU Ke, ZHAO Chun-cheng, FAN Hua-tao, YAO Chen-jiao. Influence of Profile Radius of Guiding Cone on Recovery of AUV[J]. Journal of Unmanned Undersea Systems, 2018, 26(2): 166-173. doi: 10.11993/j.issn.2096-3920.2018.02.011

Citation:

ZHAO Guo-liang, XU Ke, ZHAO Chun-cheng, FAN Hua-tao, YAO Chen-jiao. Influence of Profile Radius of Guiding Cone on Recovery of AUV[J]. Journal of Unmanned Undersea Systems, 2018, 26(2): 166-173. doi: 10.11993/j.issn.2096-3920.2018.02.011

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Influence of Profile Radius of Guiding Cone on Recovery of AUV

doi: 10.11993/j.issn.2096-3920.2018.02.011

State Key Laboratory of Deep-sea Manned Vehicles, China Ship Scientific Research Center, Wuxi 214082, China

Publish Date: 2018-05-08

Abstract

Abstract

To reasonably design the recovery device’s guiding cone, whose shape and size are restricted for an autonomous undersea vehicle(AUV), the influences of the “elastic” and “elastic-damping” contact force models on the calculation are analyzed, and the influence of the guiding cone’s profile radius and initial offset on the recovery contact force and the recovery time are investigated, hence an evaluation method of the design of guiding cone is put forward. The general expression of six-degree-of-freedom motion and the contact force model are employed to establish the AUV motion equations in the recovery process, and a time discrete solution program that adapts to the contact force is designed to calculate the AUV recovery process on the software MATLAB. The results show that: 1) the damping in the contact model is conducive to the recovery process; 2) the increase in the profile radius has positive effect on reducing both contact force and recovery time, and 3) The comprehensive evaluation coefficient can be applied to comprehensively evaluating the design specification to determine the profile radius.
- autonomous undersea vehicle(AUV),
- recovery device,
- guiding cone,
- contact force model

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References(14)

References

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