水下航行器载荷分离模型的建立与仿真

采用多刚体动力学、运动学方法，考虑水下运动多体系统受到的水动力作用的复杂性，建立了水下航行器的运载体和载荷分离的一种数学模型，并用MATLAB/SIMULINK对分离过程进行了仿真与分析，其结果与实验较为吻合，表明了该模型的正确性．

Dynamics Model and Simulation for an AUV Load Separating

An Autonomous Underwater Vehicle has been applied more comprehensively,and as a carrier,its load makes up a multi-bodies system.During its moving under water,we must consider the complexity of the force on the multi- bodies system under water,such as hydro-viscosity and extra hydro-inertia.This thesis has built a math model for the separation between the carrier and the load of an Autonomous Underwater Vehicle by using dynamics and kinematics of multi-rigid-bodies.The primary exploration is combining dynamics and kinematics of multi-rigid-bodies with hydrodynamics and applying it in movement under water.We use MATLAB/Simulink to fulfill the model simulation, which makes result observed more direct and convenient.By comparing some figures analyses,a famous conclusion has been reached.We have found that the result is very close to fact,and the model building and simulation are successful.