AUV水下对接系统设计与接驳控制方案研究

为了实现自主水下机器人（autonomous underwater vehicle，AUV）稳定、准确、高效地完成水下对接，提出一种导向罩开合式水下对接装置。针对该装置对接结构的特征所决定的AUV入坞运动的控制要求，考虑到在入坞阶段前向运动起主导作用，分别建立了在静对接、悬浮对接和拖曳动对接三种应用场景下AUV对接系统的动力学仿真模型，重点分析了AUV对接系统在对接时受到的水动力和碰撞力。基于ADAMS （automatic dynamic analysis of mechanical system，机械系统动力学自动分析）和控制仿真软件MATLAB/Simulink联合搭建的水下对接仿真系统，进行在不同接驳控制方案下静对接、悬浮对接和拖曳动对接效果的仿真分析与对比。分析结果表明：在位置-速度闭环控制下，对接能耗、碰撞次数和最大碰撞力均为最小，对接耗时比传统的位置闭环控制减少约50%；在拖曳动对接场景下，在位置-速度闭环控制下对接系统实现了良好的变速跟踪，有利于AUV快速对接。该AUV水下对接系统适用于不同的对接场景，方便无人艇搭载并对AUV进行布放与回收，有利于革新海洋无人系统跨域协同作业模式。

Research on the design and connection control scheme of AUV underwater docking system

In order to realize the stable, accurate and efficient underwater docking of autonomous underwater vehicle (AUV), a guide cover opening and closing underwater docking device was proposed. According to the control requirements of AUV docking motion determined by the characteristics of the docking structure of the device, considering that the forward motion played a leading role in the docking stage, the dynamics simulation models of AUV docking system under three application scenarios of static docking, floating docking and towed docking were established respectively. The hydrodynamic force and collision force of AUV docking system when docking were analyzed emphatically. Based on the underwater docking simulation system jointly built by ADAMS (automatic dynamic analysis of mechanical system) and control simulation software MATLAB/Simulink, the simulation analysis and comparison of static docking, floating docking and towed docking effects under different connection control schemes were carried out. The results showed that under the position-velocity closed-loop control, the docking energy consumption, collision times and maximum collision force were the smallest, and the docking time was reduced by about 50% compared with that under the traditional position velocity closed-loop control; under towed docking scenario, the docking system realized good variable velocity tracking under the position-velocity closed-loop control, which was conducive to the rapid docking of AUV. The AUV underwater docking system is suitable for different docking scenarios, which is convenient for unmanned boats to launch and recover AUV, and is more conducive to the innovation of cross-domain cooperative operation mode of ocean unmanned systems.