Unpowered Diving Motion Characteristics of Deep-sea Autonomous Underwater Vehicle
GAO Wei1,2,3, LI Tianchen4, GU Haitao1,2, JIANG Zhibin1,2, SUN Yuan1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China; 4. Unit 92578 of the People's Liberation Army of China, Beijing 100161, China
Abstract：In order to explore the characteristics of the deep-sea AUV (autonomous underwater vehicle) unpowered diving motion and improve the prediction accuracy of diving motion, the interferences of ocean current and buoyancy changes are considered, and a simulation method of AUV steady unpowered diving motion is established based on its space motion equation. By changing the control input parameters, the variation laws of state variables of AUV with respect to the net negative buoyancy, the position of the center of gravity, the rudder angle and the marine environment are revealed. The results show that because of the ocean current and buoyancy changes, the motion state of AUV will change to accommodate the new flow, but the motion posture is always stable. The unpowered spiral diving can greatly improve the drift distance of the AUV in the horizontal plane. Under the same environment interference, the faster the AUV dives, the shorter time it takes, and the smaller the drift distance is.
[1] 蒋新松,封锡盛,王棣棠.水下机器人[M].沈阳:辽宁科学技术出版社,2000.Jiang X S, Feng X S, Wang D T. Unmanned underwater vehicle[M]. Shenyang:Liaoning Science and Technology Press, 2000. [2] 武建国,石凯,刘健,等. 立扁体AUV的操纵性与运动控制研究[D].哈尔滨:哈尔滨工程大学,2017.Gong H. Research on the maneuverability and motion control of the vertical flat AUV[D]. Harbin:Harbin Engineering University, 2017. [5] 潘彬彬,崔维成,叶聪,等. 蛟龙号载人潜水器无动力潜浮运动分析系统开发[J].船舶力学,2012,16(1):58-71.Pan B B, Cui W C, Ye C, et al. Development of the unpowered diving and floating prediction system for deep manned submersible "JIAOLONG"[J]. Journal of Ship Mechanics, 2012, 16(1):58-71. [6] 顾建农,张志宏,王冲,等. 海流对水下滑翔机运动参数的影响[J].海军工程大学学报,2018,30(4):1-7,40.Gu J N, Zhang Z H, Wang C, et al. Influence of ocean current on motion parameters of underwater glider[J]. Journal of Naval University of Engineering, 2018, 30(4):1-7,40. [7] 王友康. 全海深AUV潜浮运动仿真研究[D].哈尔滨:哈尔滨工程大学,2019.Wang Y K. Simulation research on the full-ocean-depth AUV diving and floating motion[D]. Harbin:Harbin Engineering University, 2019. [8] 林杨. 小襟翼对自治式水下机器人潜浮运动的影响[J].机器人,1997,19(1):35-43.Lin Y. Qualitative analysis on the influence of winglets on diving and recovering motion locus of autonomous underwater vehicle[J]. Robot, 1997, 19(1):35-43. [9] 王光越,黄红飞,冯朝. 基于弧形翼板深海潜航器无动力螺旋下潜方式研究[J].机械研究与应用,2019,32(1):7-9,12.Wang G Y, Huang H F, Feng C. Research on unpowered spiral submerged mode of deep-sea underwater vehicle based on curved wing plate[J]. Mechanical Research & Application, 2019, 32(1):7-9,12. [10] Prestero T. Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle[D]. Cambridge, USA:Massachusetts Institute of Technology, 2001. [11] 施生达.潜艇操纵性[M].北京:国防工业出版社,1995.Shi S D. Submarine maneuverability[M]. Beijing:National Defence Industry Press, 1995. [12] 王颖.中国海洋地理[M].北京:科学出版社,1996.Wang Y. China ocean geography[M]. Beijing:Science Press, 1996. [13] 刘金夫. 洋流影响下的水下滑翔机垂直面内滑翔运动数值仿真[D].武汉:华中科技大学,2016.Liu J F. Numerical simulation of motion in vertical plane on underwater glider in currents[D]. Wuhan:Huazhong University of Science and Technology, 2016. [14] 张辉. 海洋环境下AUV目标跟踪控制研究[D].哈尔滨:哈尔滨工程大学,2012.Zhang H. Research on target tracking control for AUV in oceanic environment[D]. Harbin:Harbin Engineering University, 2012. [15] 武建国,徐会希,刘健,等. 深海AUV下潜过程浮力变化研究[J].机器人,2014,36(4):455-460.Wu J G, Xu H X, Liu J, et al. Research on the buoyancy change of deep-sea autonomous underwater vehicle in diving process[J]. Robot, 2014, 36(4):455-460. [16] Liu T J, Jiang Z B, Li S, et al. Explorer1000:A long endurance AUV with variable ballast systems[C]//2018 OCEANS. Piscataway, USA:IEEE, 2018:1-6. [17] 沈建森,朱书平,周徐昌. 基于Matlab/Simulink的水下航行器建模与仿真[J].兵工自动化,2012,31(2):24-27.Shen J S, Zhu S P, Zhou X C. A method for modeling and simulation of underwater vehicles based on Matlab/Simulink[J]. Ordnance Industry Automation, 2012, 31(2):24-27. [18] 张德丰. Matlab/Simulink建模与仿真实例精讲[M].北京:机械工业出版社,2009.Zhang D F. Matlab/Simulink modeling and simulation[M]. Beijing:China Machine Press, 2009.
