变缆长拖缆AUV纵向运动建模与仿真

针对拖缆自主水下航行器（AUV）运动过程中引起的拖缆长度变化问题，采用集中质量法建市了拖缆的运动方程，根据刚体动量定理及动量矩定理建赢了拖缆AUV的纵向运动方程，在此基础上补充推导了AUV拖缆运动过程的变缆长边界方程。联市拖缆运动方程、AUV纵向运动方程及边界方程得到变缆长拖缆AUV纵向运动方程。基于此方程，应用4阶Runge—Kutta法对采用相同控制律方程的兀缆及有缆AUV进行了对比运动仿真。仿真结果表明，随着运动过程中拖缆长度的不断增长，拖缆对AUV的作用力不断增大，对AUV各运动参数的影响也不断增大，且对AUV轴向运动速度的影响最为明显。

Longitudinal Motion Modeling and Simulation of Tethered AUV with Length-Variable Towing Cable

A numerical model of towing cable is established based on the lumped mass method to simulate the variation of cable length for tethered autonomous underwater vehicle（AUV）. And a longitudinal motion model of the AUV is es- tablished according to the rigid body momentum theorem and the moment of momentum theorem. In addition, the boundary equation of the towing cable for the AUV is deduced based on the two models. The longitudinal motion equa- tions are obtained by jointing the towed motion equation, the longitudinal motion model and the boundary equation of the towing cable. The motions, of a tethered AUV and an untethered AUV are simulated and compared by using same control law equation and the fourth order Runge-Kutta method. The results show that the effects of towing cable on the motion parameters of the tethered AUV become greater as the length of towing cable increases, especially for the axial velocity of the tethered AUV, and the acting force on the tethered AUV gets greater.