Simulation Research On The Full-ocean-depth AUV Diving And Floating Motion

Owing to development of science and technology,human beings explore more deeper and wider ocean.Automous Underwater Vehicle(AUV)is important tool for human to explore ocean,which with significant functions such as detecting underwater terrain and collecting hydrological information of ocean depth profiles.At present,Human Occupied Vehicle(HOV)and Remotely Operated Vehicles(ROVs)already have been able to fully sea-deep,operating at depths of 11,000 meters.The emergence of full-ocean-depth AUV is an inevitable trend.Since the vertical movement distance of full-ocean-depth AUV is too far,but carrying energy is limited.Thus,using unpowered way to dive and float for full-ocean-depth AUV is obligatory.In order to reduce the vertical resistance of its submerged motion,the full-ocean-depth AUV shaped as vertical flat.For this special flat-body AUV,there is no artificial control during the non-dynamic submerged motion.Therefore,it is very important to understand the state information during the submerged motion before working underwater.In the full-ocean-depth AUV design phase,it is necessary to know the status information of its unpowered dive and floating process as well as the time required for its dive and floating,which is more convenient for energy allocation.Therefore,it is particularly important to simulate the non-dynamic submerged motion.In this paper,considering the changes of heavy buoyancy in the process of dive and floating,the pure digital simulation system and visual simulation system of the full-ocean-depth AUV unpowered submersible motion analysis system are developed.Firstly,this paper summarizes the research status of deep sea submersibles(including HOV,ROV,AUV)and the research progress of visual simulation technology,and analyzes the unpowered submerged floating motion mode of deep sea submersibles.Then,in the situation of satisfying general arrangement with the principle of minimum vertical resistance,the optimal vertical flat body shape is selected as the full-ocean-depth AUV main hull shape.Next,completing its dynamic modeling,deriving motion equation of submerged floating motion space.After completing its dynamic modeling,the whole submerged floating motion process of the full-ocean-depth AUV will be carried out in detail,and the buoyancy changes in every stage will be analyzed.At the same time,the buoyancy changes of the AUV carrier during the whole submerged floating motion,caused by the inconsistency between the physical parameters of the seawater and the physical parameters of the AUV carrier will be analyzed in detail,and building the quantitative relation model of buoyancy change of the AUV carrier and depth.In the whole,combined with the dynamic model established above and the static variation model of the AUV carrier,a full-ocean-depth AUV unpowered submersible motion analysis system is developed under the MFC platform.This pure digital simulation system has a humanized human-computer interaction interface.It can easily complete the initialization work such as the dumping configuration and working depth setting,and can simulate the whole process of the full-ocean-depth AUV unpowered submerged floating motion,also can predict the state information of the AUV carrier speed and attitude of the whole process.Finally,under the Creator and Vega,the virtual scene model and the virtual scene construction of the full-ocean-depth AUV unpowered submersible motion are completed,and the full-ocean-depth AUV unpowered submersible motion visual simulation module is developed under the MFC platform.The visual simulation module performs SOCKET communication with the full-ocean-depth AUV non-powered submersible motion analysis system established,and converts the data outputted by the pure digital simulation system into an image,which vividly displays the whole process of the full-ocean-depth AUV unpowered submerged floating motion.