Research On Dynamics Analysis And Object Positioning Strategy Of Underwater Vehicle

In the process of launching and recovering deep-sea signal sensors with underwater vehicles,it is a relatively difficult task to locate the deep-sea signal sensor.Present paper establishes a dynamic model of the buoy ascending process and analyzes the trajectory of the ascending motion,so as to reversely locate the position of the deep-sea signal sensor.By establishing a dynamic model of the underwater vehicle under the influence of hydrodynamics,the robot's motion control stability during the sensor recovery process is improved.At the same time,in order to save the energy consumption of the underwater vehicle,and realize the rapid search of the deep-sea signal sensor and positioning,the trajectory of the underwater vehicle during the sensor recovery process is optimized.The main research contents are as follows:The dynamic characteristics of the underwater vehicle are studied,and the dynamic equation of the underwater vehicle is derived based on the theorem of the center of mass motion and the theorem of the moment of momentum relative to the motion of the center of mass.Considering the influence of the inertial hydrodynamic force caused by the acceleration of the underwater vehicle,the hydrodynamic model of the underwater vehicle is established.The dynamic characteristics of the floating process of the buoy are studied,and the dynamic equation of the floating motion of the buoy is derived from the Newton-Euler equation.Also considering the influence of the inertial hydrodynamic force caused by the acceleration of the buoy,the hydrodynamic model of the floating movement of the buoy is established.According to the dynamic model of the buoy,the trajectory of the floating buoy is calculated,and the position of the deep-sea signal sensor is reversed by the position of the buoy.When the buoy encounters internal waves in the process of floating,the accuracy of the above positioning method is poor.Therefore,this paper proposes another model to estimate the trajectory of the buoy based on the internal wave velocity potential.The model decomposes the internal wave velocity potential of the buoy into two simple forms,and calculates the internal wave force of the buoy through Bernoulli equation,and calculates the floating trajectory of the buoy.The analytical solution of the positioning model is obtained by MATLAB and compared with the simulation results of Fluent to verify the reliability of the positioning model.In order to solve the problem of the limited carrying power of the underwater vehicle,present paper studies the optimization design of the recovery trajectory of the deep-sea signal sensor based on the principle of minimum energy,and proposes four common recovery trajectory forms.The energy loss model is established for these four trajectories,which provides a reference for the optimization of the recovery trajectory of the deep-sea signal sensor under different sea conditions.