Structural Design And Key Technology Research Of AUV Recovery System

Autonomous underwater vehicle(AUV)has been widely used in marine resources exploration,search and rescue,salvage,detection and intelligence gathering in recent years due to its structural stability,low deployment cost and high intelligence.The related technology research of AUV has also become a hot spot in the field of marine equipment.The AUV recycling technology plays an important role in AUV’s marine testing and mission execution.Carrying out research on AUV recycling technology and upgrading relevant technical capabilities and equipment levels are of great significance to the development of China’s AUV technology field and marine development.In order to realize the safe,reliable and efficient recovery of small and medium-sized AUVs,this paper proposed a system device that can recover small and medium-sized AUVs on the surface and under water.It can be mounted on the mother ship and recovered after the AUV completes the task.The main research work done in this paper is summarized as follows:(1)According to the functional requirements and working conditions of the AUV recovery system in the sea trial operation,the overall design of the AUV recovery system was carried out.The dynamics modeling of the AUV recovery system was completed by combining the methods of robotics and Lagrange equations.It provided a theoretical model basis for the overall simulation calculation,sway and device optimization of the recovery system.(2)The structural of the boom of the recycling system was designed.Determined the lifting parameters of the boom system,and detail the key structure of the boom system: lifting column,basic arm and telescopic arm were designed.For the boom system,the force analysis was completed in the variable amplitude plane and the revolution plane respectively,and the calculation method of the allowable strength and deflection of the boom was determined.The load stress and deformation of the boom under six working conditions were calculated by ANSYS finite element analysis software.The simulation results showed that the boom strength meets the design requirements.(3)System structure of AUV water surface and underwater recovery device were designed.Firstly,the working principle of the AUV surface and underwater recycling scheme and the overall structure of the recovery unit were introduced.The working process of the AUV surface recovery scheme and the docking method of the underwater recycling scheme were described.The structural of the lifting mechanism such as the hanger platform,the limit gripper,the servo slide,the hook lock,the anti-swing mechanism and the docking device were designed.Then,based on the basic theory of computational fluid dynamics,the calculation model of AUV underwater recovery hydrodynamic analysis was established.The calculation model was iteratively calculated by FLUENT software.The hydrodynamic performance of AUV under different speed,angle of attack and distance was analyzed,which provided reference for the attitude and dynamic control of AUV docking process.(4)On the basis of completing the structural design of each part of the AUV recycling system,the virtual prototype technology and the ADAMS mechanical system dynamics theory are introduced.At the same time,the virtual prototype model of the AUV recycling system was established.Under the condition of three levels of sea conditions,the anti-swing performance of the anti-swing mechanism of the recovery system was simulated.The simulation results showed that the anti-swing mechanism had a good anti-swing effect and improved the stability of the recovery system during lifting.