A Method for Load Separation from Head of Autonomous Underwater Vehicle Using Load Gravity and Suitable Thrust

Based on the given dynamic equations,a set of models of the initial position and initial attack angle of the separated load and the launcher of autonomous underwater vehicle (AUV) are deduced.A new load separation method using load gravity and suitable thrust is presented.Simulation results show that when the launcher speed is given,a certain increase of thrust will shorten separation time,reduce interaction of load and launcher,and hence improve separation safety.The safety of proposed method relates to the preset separated angle and the initial velocity.When the intial velocity reduces,the separation safety can be improved.When the initial velocity increases,the separation safety can be ensured by reducing the preset separated angle (no more than 90 degree).