Research On AUV Underwater Docking Device

AUV(Autonomous Underwear Vehicle), a tool of seabed exploration, oceanographicobservation and marine military, plays a more and more important role, along with that themarine development process is extending to blue water and that the demand on underwateroperations equipment is higher and higher. But the weak endurance AUV has been to set alimit to the working distances and working hours. For this problem, marine workers applythemselves to the research of AUV underwater recycling technology, providing a new wayfor underwater energy supplement of AUV. In addition, the underwater recovery technologyis an important means of data upload and download for AUV.This article analyzes and summarizes the functional requirements of the diversifieddocking devices based on the analysis of domestic and abroad findings of the AUV recoverysystems. To overcome the problem of the singular recovery target and the narrow applicablerange of the docking devices, we apply the modularization thinking to the structure designof the AUV underwater docking device, and realize the expansion of its application rangeand the enhancement of its recovery functions by the function module combination design.Underwater docking technology is studied based on the background of deep-seamobile workstation. The overall program of underwater docking device for AUV isdesigned. Aiming at collision buffer, positioning and locking and attitude adjustment ofdocking device in the AUV docking device docking process, the corresponding functionalmodules are designed based on modular method, the hydraulic system of docking device isdesigned based on compensation method. The angle control loop of the hydraulic system issimulated by establishing its mathematical model; the experimental platform of thehydraulic control system is developed and the angle control loop of the hydraulic controlsystem is studied experimentally.After analyzing the process of AUV docking with the docking station, aiming atattitude adjustment problem of docking device before docking process and the AUV guideproblem, positioning and locking problem, collision problem between AUV and dockingstation in docking process, solutions are studied. Funnel module, positioning module,locking module, buffer module, attitude adjustment module and support and connectionmodule are designed by the modular design method. functional module interfaces of thedocking device are divided and designed uniformly by setting the criteria that whether there are direct interactions between the interfaces and the recovery of AUV.In order to adapt to the different depth requirements, a hydraulic system is designedbased on the pressure compensation technology. The compensator is designed for thehydraulic system, and the operating characteristics of the compensator are studied andcalculated. The hydraulic system with throttle governing is designed in the synchronizationcircuit, charging institutions circuit and the rotation module circuit of locking module. Thepressure loss and hydraulic impact of the hydraulic system are analyzed.For the control requirement of the docking device attitude adjustment during thedocking operation, hydraulic motor circuit adopts a closed-loop control mode, in order toobtain the control features of this loop, the mathematical model of the control loop isestablished and its simulation analysis is carried out to study the dynamic characteristics,steady-state characteristics and robustness. And then, experiments are conducted to furthervalidate the control characteristics of the control loop.