近水面悬停远航程AUV受波浪的影响

远航程自主水下航行器(简称:AUV)在水下航行一定的距离后需要上浮到近水面悬停进行GPS导航定位,而在近水面AUV受波浪的影响不能忽略,因此有必要研究AUV在近水面悬停时受波浪的影响。在建立AUV六自由度运动数学模型的基础上,基于二元规则波的波浪理论建立了AUV所受波浪力的计算模型,并仿真计算了AUV在近水面悬停时受海洋波浪力的影响。结果表明AUV在2级和4级海况下都可以稳定地完成在近水面悬停作业的任务。

Effect of Wave on AUV Hovering near Sea Surface

In the full paper,we explain in some detail our research on the effect of wave on an AUV(Autonomous Underwater Vehicle) hovering near the sea surface.In this abstract,we just add some pertinent remarks to listing the two topics of explanation.The first topic is: the six-degree-of-freedom motion equations of an AUV.In the first topic,we only make some changes in the motion equations taken from the open literature in order to facilitate our research.The second topic is: the model for calculating wave force.In establishing this model,we give mathematical derivation of eqs.(5) through(17),among which eqs.(5),(6),(13),(14),(15),(16) and(17) are particularly important.Finally we give a numerical example simulating the effect of wave on the AUV affected by Grades 2 and 4 waves(Chinese national standard).The simulation results,summarized in Figs.4 through 7 in the full paper,show preliminarily that Grade 2 wave has little effect while Grade 4 wave has obvious effect but is still permissible.Therefore,even in the case of Grade 4 wave,the AUV can still successfully hover and locate itself with GPS signals.