Research On Key Technologies Of Autonomous Underwater Vehicles Underwater Docking And Docking Collision Problem

With the continuous development of marine and utilization process,Autonomous Underwater Vehicles(AUV)technology has been developmented rapidly,and the use of AUV underwater detection and underwater operations has gradually draw people's attention.With the widespread use,AUV also exposed some problems: AUV is limited by its own energy,it is difficult to meet the requirements of high battery life and long-term operation;AUV deployment and recovery depend on the support of water vessels.For deep-sea,offshore operations AUV,it costs a lot of manpower.When the sea is poor,recovery AUV will bring a lot of risk.How to improve the ability of AUV to continue its mission,to avoid the unnecessary risk of recycling process and reduce the cost of laying and recycling bring AUV researchers new challenges.AUV underwater docking technology is the key technology of AUV underwater energy supplement and underwater recycling,and it is of great research significance and practical value to study AUV underwater docking technology.This paper reviews the current situation of AUV underwater docking technology at home and abroad,analyzes and summarizes the ways and their characteristics of AUV underwater docking,and summarizes the key technologies involved in AUV underwater docking.This paper use "self-government submersible carrying docking technology research" project as the background,and improve the problem that did not take into account in the initial design stage.The author of this paper found there is a serious collision problem in the docking process when participated in AUV underwater docking sea experiments,This paper carry on the simulation and the experimental research to the AUV docking collision problem.For the initial design problem,this paper improved the previous developed underwater docking station.in order to describe the problem clearly,this paper briefly describes the previous developed underwater docking station system.The locking mechanism and the original hydraulic circuit are improved,and the experimental verification is carried out according to the problem of poor synchronization of the two sets of locking mechanism of the docking station;In this paper,aiming at the problem of the failure of the attitude adjustment mechanism during the sea trial,The relevant improvement is carried out and verified experimentally.The design of the hydraulic system of the motor starting control mode is insufficient,the hydraulic system to improve and verify the experiment.Aiming at the collision problem between AUV and docking base station,this paper analyzes the collision problem of AUV.In this paper,the collision mechanism and constraints between the contact body is analyzed.In order to analyze the collision problem,this paper studies the mechanism and characteristics of these two methods,and applies these two methods to AUV underwater.In this paper,we study the mechanism and characteristics of the two methods.In the analysis of butt collision,the collision parameters and the motion of the contact body after collision are analyzed.In order to reduce the impact of collision,this paper proposes the following three buffer measures: First,by changing the movement of the contact body;second,by adding a buffer on the contact body;third,The contact body is structured.Because the collision theory analysis can not get the exact size of some collision parameters(such as the collision force),and in order to further analyze the collision problem,this paper uses the virtual simulation software ADAMS,which is the ideal solution to the collision problem,to simulate the collision process of the AUV.The simulation model is established by adding the constraint,adding the load and reasonably determining the simulation parameters.and analyze the magnitude of the collision force generated by the AUV in the docking collision and the change of the AUV motion state before and after the collision.In order to analyze the factors that affect the underwater collision of AUV,this paper analyze the influence of the parameters on the collision of AUV.In order to further study the problem of AUV underwater collision,verify the theoretical analysis and simulation results,this paper carries out AUV underwater docking collision experiment.In this paper,the experimental scheme is analyzed,the AUV is modified according to the experimental scheme,and the docking station is designed to meet the requirements of the docking collision experiment.Based on the experiment of AUV and docking base station,the contact collision force of the docking process is detected on the one hand.On the other hand,the influence of AUV docking speed and AUV collision angle on AUV docking collision is studied by changing the experimental parameter variable.