AUV重力加小推冲载荷分离方法

自主式水下航行器是由载荷和运载体组成的一个多体系统。本文在AUV分离运动数学模型的基础上，推导了载荷和运载体初始位置以及初始攻角的计算模型，提出了一种工程实用的重力加小推冲分离方法，其2个阶段的分离过程主要是依靠分离载荷的自身重力进行分离，必要时辅助以一定的推冲力，并对这种分离方法进行了仿真和安全性研究。仿真结果表明，当运载体速度一定时，在一定程度上增大推冲力，可缩短分离时间，减轻载荷与运载体之间相互作用的影响，可提高分离安全性。该分离方法的安全性与预定分离角和分离初始速度有关，分离初始速度减小，有利于提高分离安全性；分离初始速度增大，可减小预定分离角（不大于90°）以确保分离安全。

A Method for Load Separation from Head of Autonomous Underwater Vehicle Using Load Gravity and Suitable Thrust

Based on the given dynamic equations, a set of models of the initial position and initial attack angle of the separated load and the launcher of autonomous underwater vehicle （AUV） are deduced. A new load separation method using load gravity and suitable thrust is presented. Simulation results show that when the launcher speed is given, a certain increase of thrust will shorten separation time, reduce interaction of load and launcher, and hence improve separation safety. The safety of proposed method relates to the preset separated angle and the initial velocity. When the intial velocity reduces, the separation safety can be improved. When the initial velocity increases, the separation safety can be ensured by reducing the preset separated angle （no more than 90 degree）.