两摆动自由度AUV水下接驳站结构方案研究-机械工程学报.pdf

第 53 卷第 4 期 机 械 工 程 学 报 Vol.53 No. 4 2017 年 2 月 JOURNAL OF MECHANICAL ENGINEERING Feb. 2017 DOI ：10.3901/JME.2017.04.161 两摆动自由度AUV 水下接驳站结构方案研究* 李德骏 张 涛 蔡业豹 史剑光 冯建设 杨灿军 (浙江大学流体动力与机电系统国家重点实验室 杭州 310027) 摘要：针对深海海底观测网技术发展的需求，将深海移动平台的动态、大范围观测与网络节点的静态、长期观测相结合，形 成一个长期、实时的海洋环境立体观测网络，设计一种具有两个摆动自由度的水下接驳站，介绍其主体结构设计，并建立水 下接驳站的拉格朗日动力学方程，分析调节重块对受到干扰后的接驳站恢复稳态的快速性的影响，同时进行仿真验证，并制 作等比例缩放的接驳站样机模型进行水池试验。仿真和试验结果均表明，两自由度的水下接驳站的结构方案是可行的，可以 适应不平地势、降低安装难度，并且增大调节重块的质量将有效增强接驳站的抗干扰性，减小接驳站受到干扰后偏离平衡位 置的角度，加快接驳站受到干扰后的恢复到稳态的速度。 关键词：海底观测网；AUV ；接驳站；两摆动自由度；调节重块 中图分类号：TH113 ；TH122 Research on the Underwater AUV Docking Station with Two Swing Degrees of Freedom LI Dejun ZHANG Tao CAI Yebao SHI Jianguang FENG Jianshe YANG Canjun (The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027) Abstract ：In order to make our seafloor observatory network to be a long-term, real-time marine environment stereoscopic observation network which combines dynamic and wide-range observation of deep-sea moving platforms with static and long-term observation of network nodes, an autonomous underwater vehicle (AUV) docking station with two swinging degrees of freedom are developed. The main structure design and the Lagrange dynamics equation of the station are established. The effect of the mass of the adjustable weight on the stability of the system is analyzed along with software simulation. A scaling prototype has been made to do water-tank experiment. Results of both simulation and experiments indicate that the case is feasible in adapting to uneven terrain, reducing the installation difficulty. Anti-interference performance of the station can be dramatically improved by increasing the