Research On The Key Technology Of Active Wave Compensation Device For Retraction And Release Of Unmanned Underwater Vehicle

In the past 20 years,with the development of unmanned underwater vehicle,human beings have gradually deepened the development of marine resources.Requirements for various unmanned underwater vehicle equipment are also increasing.Among them,the retraction and release device is the key supporting equipment of unmanned underwater vehicle,which plays a decisive role in its efficiency and safety.At present,the application of all kinds of retraction and release devices on marine ships has been very popular,but the retracting and releasing objects are mostly single,and the functionality is also relatively lacking.As far as the wave compensation function is concerned,most of the existing retraction and release devices are Passive,Semi-active and Active heave compensation.However,the research on Active Wave Compensation Retraction and Release Devices with multi-degree-of-freedom is less.Therefore,the research on Active Wave Compensation Retraction and Release Devices with multi-degree-of-freedom which is suitable for more types of unmanned underwater vehicles is of great significance.In this thesis,the key technology of Active Wave Compensation Device for unmanned underwater vehicle is studied from the four aspects of principle analysis,modeling analysis,simulation analysis and experimental analysis.First of all,from the selection of retraction and release mode,structure composition,working principle and other aspects,the whole device is comprehensively described;then,the kinematic model and hydraulic mathematical model based on coordinate transformation are established,and the required motion compensation of each part is calculated,and then the compensation function of different degrees of freedom is modeled and analyzed by using AMESim software platform;then,taking the device index as the simulation purpose,the six level of sea condition as the simulation background,and combining with the established model,the corresponding simulation analysis is completed.Finally,the hardware and software experimental system is built,and the performance of the device is studied by land simulation experiment.The research results show that the retraction and release device described in this thesis has excellent performance and can meet the corresponding index requirements.