Design And Towing Dynamics Research Of AUV Deployment And Recovery Device Based On Unmanned Vehicle

The ocean has a wide area and rich resources,but its development and utilization rate is relatively low.Therefore,marine environment exploration and marine resources development of are the needs of times.Autonomous Underwater Vehicle(AUV)is an important tool for humans to explore the underwater world,and plays an important role in civil and military affairs.However,because AUVs are limited in carrying energy on their own,relying on them to operate alone will not be able to meet the work requirements in the future.With the development of Unmanned Surface Vehicle(USV),a combination of USV and AUV can make up for their own shortcomings.However,combination of USV and AUV,how to safely and efficiently recover the AUV to the USV must be taken into consideration.In order to solve the above problems,in this thesis,the USV was used to recover the AUV,after it completed its working task or when the energy was insufficient,the thesis analyzed the overall deployment and recovery scheme according to the actual working conditions.Then the thesis designed and carried a set of AUV deployment and recovery device placed in the aft cabin of the USV.At the same time,the thesis analyzed the mechanical characteristics and stability problems of the AUV in underwater towing and recovery.The main research done in the thesis was as follows.(1)Firstly,the layout and recovery scheme were analyzed.Then,after the successful capture of AUV cable,the recovery process was analyzed and influence of towing speed,cable recovery speed and nodes on the attitude of AUV in the recovery process were mainly considered.The ADAMS software was used to simulate the real water environment conditions,so as to reduce the impact of AUV shaking on the internal precision parts of AUV in the recovery process and improve the stability of the recovery process.(2)According to the requirements of AUV in the marine operation environment,USV,AUV,deployment recovery device and other auxiliary equipment were combined to design a set of water surface integrated recovery system.Then,according to the layout design of the overall scheme of the thesis,Solidworks software was used to model the deployment and recovery device in three dimensions,and the load was applied according to the location of each component to establish the mechanical model of the deployment and recovery device mechanism.Finally,the actuators are analyzed and selected to choose the appropriate components.(3)The thesis first analyzed the rationality of the structure of the deployment and recovery device,and simulated the structure dynamics by using the ADAMS software.Then,loads were applied to the deployment and recovery device according to the actual working conditions,and the working load of each mechanism was calculated.After that,the thesis used ANSYS Workbench software to carry out static analysis on the deployment and recovery hinges,A-frames,and fixed frames,and calculated the equivalent stress and total deformation of each component.The deployment and recovery designed in this paper was dynamic recovery.The USV will shake the deployment and recovery device during navigation.Therefore,the thesis conducted a modal analysis on the deployment and recovery device to avoid resonance.(4)The deployment and recovery device was processed and manufactured.Firstly,the deployment of the recovery device actuator and auxiliary components were arranged and installed to verify the stability and reliability of its structural strength.Then the rationality of the mechanism design was verified through landbased tests.Finally,the commissioning work was completed to verify the feasibility of the recovery system scheme.