自主式水下航行器载荷水下浮力解脱分离方法

携带正浮力载荷的自主式水下航行器( AUV)是由正浮力载荷和运载体组成的一个多体系统，在载荷释放时必须保证载荷不能与运载体发生碰撞。在研究AUV载荷分离运动数学模型的基础上，结合工程实际，提出载荷浮力解脱分离方法。仿真结果验证了在该浮力解脱分离方法下，载荷可以安全分离，且分离运动简单。该方法在工程上比较容易实现，具有工程参考价值。

A New Method of Load Separation from Autonomous Underwater Vehicle

A new method of load separation from the head of AUV(autonomous underwater vehicle) was proposed.Based on the dynamic equations given,a set of transform models for the beginning position of the separated load and the carrier were deduced.A particular measure was given to the new method of load separation.The load turns around an axis at the top of the head of AUV with the buoyancy of the load itself firstly and then makes a thorough separation from the AUV.This is desirable because the load has the motion away from the carrier having appropriate pitch attitude,thus reducing the chance for the separated load to knock against the AUV.Results of subsequent simulation show that the new method of load separation is safe and easily applied.