The Research On Modular Modeling Of Autonomous Underwater Vehicle

The autonomous underwater vehicle which born for underwater operations to theexploration of the sea is the rocket system to the space exploration, get rid of the limitation ofcables, unaidedly accomplish the scheduled task, is the best tool for the development ofmarine. For the autonomous underwater vehicle of the oriented task, can only carry a limitedfunction of load, unable to meet the needs of the growing diversity of tasks. A feasiblesolution is developing a modular, mission reconfigurable autonomous underwater vehicle,which has a set of function modules designed in accordance with uniform standards, byreplacing the different features in order to achieve different functions. Makes it possible tosame vehicle perform a variety of tasks. Hardware and functional software interface should bedesigned in accordance with uniform standards. We must first solve the module definition andthe division of the formation and integrated way, connection type, sealed form, andhydrodynamic modular modeling process.Firstly, based on modular theory defined the concept of a module with the open platform,showed the detailed division of the module. Modules’ analysis in accordance with the twoways-function and structure, given the principles and processes of the division of the module.Formed modules need to select a reliable and efficient methed of moduling, through theanalysis of connective modules and influencing factors, based on the modular modulingtheory, established a modular moduling method for hydrodynamic model of the underwatervehicle, give a simple and reliable solution.In order to build the hydrodynamic model of the underwater vehicle, and analysed thekinematics and hydrodynamic of the underwater vehicle, established two coordinate systems,and derive the transformation of two coordinate systems, analysed all external forces,established hydrodynamic model, and got the six degrees of freedom movement of thebalance equation.According to theory of fluid mechanics and empirical formula, established modularhydrodynamic model of autonomous underwater vehicle. Establishment of standard dataformats of models, combined with the empirical formula and strip theory, developed amodule-based method of stress analysis, by using modular analysis methods, established acomplete modular six degrees of freedom hydrodynamic model. Compare the established model with the conventional hydrodynamic model throughsimulation comparison test. To verify the feasibility of the modular hydrodynamic modelingby contrast the motion parameters of the underwater vehicle typical maneuvering state, anddesign software algorithm to enhance the convenience of modular modeling...