Research Of Underwater Vehicle Overall Optimization And Self-Equilibrating Control Technology

Underwater special vehicle is a kind of operational platforms which develops very fast inrecent years. It is used to equip the special operation forces with the supports from submarines orsurface ships. With the ability of carrying divers and equipped with weapons, the underwaterspecial vehicles can carry out a lot of missions such as offshore and port surveillance, wreckercombat mission, enemy’s port facilities and underwater communication facilities destruction.Therefore, the navy’s coastal and shallow water combat capability can be greatly improved.The overall design is the basis of underwater vehicle design. With the requirement ofvehicle specifics fulfilled, this paper focuses on the optimization of the overall design which caneffectively improve the operational performance. Considering the need of keeping certain depthand attitude with zero speed in some special conditions where the traditional control facilities donot work, a self-equilibrating device is needed. As a special vehicle, concealment and enduranceare important characteristics. The goal of the underwater vehicle design in this paper is to retainself-equilibrating capability with power saving at the same time. The usage of control rope onunderwater vehicles is mainly introduced in this paper as a kind of practical self-equilibratingequipment.A kinetic model of the vehicle’s suspension movement is developed based on the kineticmodel in vertical plane movement. Then, the model is reasonably simplified according to itshigh-level and non-linear characteristics. Accounting for the current surrounding of the vehicle,the principle and adjusting process of the control rope which is used as a self-equilibratingdevice are explained. Detailed numerical calculation is carried out to determine the rope lengthand weight indicators. The results provide basis for the overall design of the vehicle and therelated design of control rope as well.