Design And Research Of Autonomous Launch And Recovery Device For Underwater Towed Vehicle Based On USV

With the increasing demand for ocean exploration,a variety of ocean exploration equipment has been developed rapidly.Underwater Towed Vehicle,as an underwater detection device,has the advantages of simple structure,strong modularity,low cost,and free operation range from its own energy constraints.It has been rapidly developed and applied in recent years.The unmanned surface vehicle(USV)is a kind of small-scale offshore unmanned platform,which has the advantages of good maneuverability and concealment of operation.It is a research hotspot at home and abroad.In order to meet the all-round,all-weather,over the horizon detection and detection of the sea unmanned system,and meet the requirements of the sea-air-space integrated operation,the underwater towed vehicle and USV can be combined to give full play to their respective advantages,so the joint operation technology of the two becomes the main research content of this paper.In order to solve the problem of how to combine the underwater towed vehicle and USV,this paper first puts forward a kind of operation mode of using USV to launch and recovery the underwater towed vehicle autonomously.Secondly,according to the design requirements,an underwater towed vehicle autonomously launch and recovery device is designed to solve the problem of autonomously deploying and recovering,and the towing stability in the process of towing is analyzed.Finally,through the pool test and lake test verify the feasibility of this operation mode and the practicability of the device.The specific research contents of this paper are as follows:(1)According to the characteristics of USV and underwater towed vehicle on the sea and the operation requirements of the project,a new operation mode of autonomous launch,recovery and towing of underwater towed vehicle by USV was proposed.Then according to the size parameters of USV and underwater towed body,the designed of the device was carried out.According to the working load of the device,the mechanical model of the three-stage luffing mechanism was established,and the relative position of the hinge between the lifting frame and the chassis was optimized.(2)In order to verify the accuracy and practicability of the designed structure,the static school core was carried out on the hinge between the lifting frame and the chassis by using ANSYS.At the same time,the tail deck of the mother ship will produce vibration under the influence of the engine,in order to prevent the resonance damage of the lifting frame structure,the modal analysis was carried out.The dynamic simulation of the whole device was carried out by using ADAMS.According to the simulation results,the working loads of the hydraulic cylinders of all levels of actuators were calculated.At the same time,the design,calculation and selection of the whole hydraulic system were carried out(3)After solving the problem of launch and recovery,the towing stability of underwater towed body was analyzed and calculated.Firstly,the mechanical state of the underwater towed vehicle was analyzed;secondly,the static stability and towing stability of the underwater towed vehicle were calculated theoretically according to its mechanical state;finally,the hydrodynamic force and moment of the underwater towed vehicle under the condition of pitch during the navigation were calculated by STAR-CCM+,which verified the stability of the towed body in the vertical plane during navigation.(4)The pool test and lake test were carried out to verify the feasibility of the operation mode and the practicability of the launch and recovery device.The mathematical model between the winch speed and the hydraulic cylinder speed under various working conditions was established,and the non-linear law of the speed of the winch in the distribution and recovery operation was studied.The static stability of the underwater towed vehicle and the stability of the towed body in the vertical plane were verified.The research work in this paper provided a strong reference for the future construction of the unmanned system in the ocean,which had great theoretical significance and engineering application value.