﻿ 一种AUV载荷分离过程实验研究与分析
 舰船科学技术  2018, Vol. 40 Issue (3): 146-149 PDF

Experimental research and analysis about the separation process of AUV and loads
FU Jia-jie, YE Yu-ling
The 710 Research Institute of CSIC, Yichang 443003, China
Abstract: Autonomous underwater vehicle (AUV) was used to carry and release loads more widely, introduced a kind of AUV which carry loads in two sides symmetrically, and illustrated the separation process of AUV and loads simply. Through analyzing to the data of AUV navigation experiment carried two different weight loads, verified the loads separation was reliable, and the influence to the AUV navigation attitude was little using this method; meanwhile the weight of carried loads was heaveier, the influence to the roll angle of AUV navigating by water was more significant.
0 引　言

1 AUV载荷布置及分离过程 1.1 AUV与携带载荷布置方案介绍

AUV携带载荷布置如图1所示，该型AUV运载体采用流线型外形设计，携带的2个载荷均为负浮力（重力大于浮力）载荷，对称布置在AUV中部两侧。为了减少航行阻力和方便携带，载荷外形通常做成圆柱流线形。分离装置将载荷与AUV运载体固连成一体，航行过程中起到携带载荷的作用，当载荷与AUV分离时又起到了释放载荷的作用。浮力调节装置用来及时调整AUV在水下航行时因分离载荷引起的浮力变化。

 图 1 AUV携带载荷布置图 Fig. 1 The layout of AUV and carrying loads
1.2 AUV与载荷分离过程

2 AUV载荷分离实验数据分析

2.1 载荷负浮力为150 kg时分离过程AUV航行姿态分析

 图 2 载荷负浮力为150 kg时分离前后AUV航行姿态参数曲线 Fig. 2 AUV navigation attitude parameter curves of before and after separation while carrying the loads negative buoyancy as 150 kg

2.2 载荷负浮力为300 kg时分离过程AUV航行姿态分析

 图 3 载荷负浮力为300 kg时分离前后AUV航行姿态参数曲线 Fig. 3 AUV navigation attitude parameter curves of before and after separation while carrying the loads negative buoyancy as 300 kg

3 结　语

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