锚泊式驻留水下航行器着陆锚链冲击力分析
Chain Impact Analysis of an Autonomous Underwater Vehicle with Mooring System That Can Rest on the Seabed

建立了驻留自主水下航行器的空间运动数学模型，之后，结合该航行器的特点，建立了锚链冲击力分析数学模型；在此基础上，基于MATLAB建立了航行器着陆过程锚链受力仿真系统，研究了锚泊系统的参数对着陆时锚链受力的影响，得到了锚的质量、锚链直径、锚链长度对锚下落及AUV上浮时锚链冲击力的影响；最后，研究了AUV主体参数对下落距离的影响，得到了航行器主体正浮力、下落速度对下落距离的影响，为之后锚泊驻留机构的设计、航行器的总体设计及改进提供了理论基础。
Conception and background of an AUV that can rest on the seabed is introduced briefly. Mathematical model of spatial motion of the AUV has been established. Combined with the characteristics of this AUV, impact analysis mathematic models of chain have been established. Based on this, simulation system of chain impact is established using MATLAB. Based on the simulation system, influences of parameters of mooring system on chain impact are analyzedand gained the influences of anchor mass, diameter of chain, length of chain on chain impact under the condition of anchor falling or the main body of the AUV ascending. Finally, the influences of parameters of the AUV on falling distance are analyzed and the influences of positive buoyancy and falling velocity on falling distance are gained. Conclusions in this paper will provide theoretical basis to mooring system design and improvement of the AUV