Modular Design And Motion Analysis Of Micro Autonomous Underwater Vehicle

Autonomous underwater vehicle(AUV)is a kind of underwater vehicle which can navigate independently depending on its own energy and sensors.There is no need to consider intervention in the course of it's work.It has the advantages of good concealment,strong maneuverability,wide range of motion and easy operation.It is the most intelligent product of marine equipments and an important direction for the development of marine equipments.AUV has become an important tool for the investigation and development of marine resources and energy,with a wide range of scientific,civil and military uses.Aiming at the current situation that AUV is difficult to popularize and its functional requirements are various in China,this paper designs a Modular microautonomous underwater vehicle guided by modularization idea.In the design process of micro-modular AUV,the carrier platform is designed firstly,and then the dynamics model is built on the basis of the carrier platform.Then its motion characteristics are simulated.Through the analysis of simulation results,the correctness of the dynamic model is determined.Finally,the correctness of the simulation results is verified by the way of lake experiment.And the navigation performance and reliability of the prototype are verified to meet the design requirements.The main contents of this paper are as follows:(1)Design of modular miniature AUV prototype.Modular AUV is based on modular interface.It designs functional modules that can be replaced by each other in structure and electricity.The rapid function reorganization of AUV is realized through modular design,which provides a feasible solution for the domestic demand for the diversification of AUV functions.In addition,the motion mechanism of AUV is simplified by the power system layout scheme of multi-thruster cross-arrangement.(2)The deduction of modular micro-AUV mathematical model.Referring to the mature mathematical model deduction method of torpedo and submarine,based on momentum theorem and momentum moment theorem,the six-degree-of-freedom space motion equation of modular miniature AUV is established,and its hydrodynamic coefficients are obtained by combining computational fluid dynamics(CFD)method.Then,based on the space motion equation,the horizontal motion of AUV is studied separately,the expression of its horizontal rotation radius is deduced,and the influencing factors are analyzed.(3)Research on the motion characteristics of modular micro-AUV.According to the six-degree-of-freedom space motion equation of AUV,the simulation program is compiled,and the equations are solved by Runge-Kutta algorithm.Through the analysis of the simulation results,the correctness of the mathematical model and hydrodynamic coefficients is verified,and the different effects of different factors on the rotation motion of AUV are clarified.At the same time,the guidance for the design of the control system is provided.(4)Verification of AUV performance.The navigation performance and system stability of the modular miniature AUV prototype are verified by lake experiments.