Study On Critical Technologies For AUV Docking Station

Marine resources provide the backbone power for the sustainable development of human society.The development and application of Autonomous Underwater Vehicle(AUV)is becoming more and more important.However,it needs to be recovered after working for a certain period of time,which interrupts the continuity of the operation and is labor-intensive and time-consuming.The underwater docking technology that can be connected to the cabled ocean observatory network is developed to charg AUV,which is an important guarantee for the practical application of AUV in deep sea.This paper describes five typical AUV underwater recovering and docking methods,summarizes the research of funnel-type AUV docking system,and proposes two key issues:contact type charging and AUV docking.The main research work is as follows:(1)In view of the high-power wired charging underwater and precise positioning plug action,the functional requirements and the overall design of the docking station were carried out.A new method of positioning and adjusting attitude for AUV was proposed.Based on this method,the bow structure of AUV and the sub-mechanisms of the docking station were designed.Finite element analysis of key components ensured the reliability of the mechanism.(2)The impact process of AUV docking was analyzed.Combined with the self-property of the work-class AUV,the viscous water resistance was calculated and verified by STARCCM+fluid simulation.The added mass coefficients of inertial water resistance were determined by the added mass variation range obtained by the Minorsky and Motora,the Lamb Curve and the added mass range provided by Submarine Maneuverability.Finally,this paper briefly introduced the methods of solving contact and collision problems.(3)In order to make AUV docking smoothly and improve the guidance performance of the guide cover,a physical simulation model of the AUV docking collision process was built in the virtual machine simulation software ADAMS.The effectiveness of the simulation model was verified by comparing the test results and the simulation results under the attitude and velocity of AUV.From the AUV docking offset distance and the AUV docking angle,the guiding ability of convex,conical and concave were discussed respectively.The "S" type guide cover was obtained by analyzing the simulation results.Finally,the finite element software ABAQUS was used to simulate the moment of the first collision between AUV and the "S" type cover.(4)A test platform of AUV docking station was built and the underwater docking test was carried out in Qiandao Lake.As long as the AUV can be successfully docked in the test,the charging operation can be completed smoothly,which fully verified the charging function of the AUV docking station and the validity and reliability of the AUV positioning and adjusting attitude method in this paper.It showed that high-power wired charging underwater wass realized.From the AUV docking offset distance and the AUV docking angle,the docking tests of convex type cover and "S" type cover were carried out.The pool test results showed that the outer ring of the "S" type cover adopts a concave structure and the inner ring adopts a convex structure,which can better envelop the AUV to smoothly complete the docking.Compared to the convex type cover,the guiding ability of the "S" type cover was significantly improved.In summary,the main innovations of this paper are as follows:(1)AUV positioning and adjusting attitude method.(2)The shape structure of the "S" type guide cover.With the support of the state and the efforts of scientific researchers in various countries,it is believed that the AUV underwater docking technology will be applied to the ocean.