摘要
水下线导航行器因布出导线的限制,航行过程在航路交汇处会存在断线风险。针对此,文中采用集中质量法,提出两侧张力约束变长度导线布放边界条件,建立导线布放动力学模型。分析航路规划对导线布放可靠性的影响,对不同旋回航行时间、布放阻力条件下布出导线水中形态进行了仿真,提出降低航路交汇断线概率的方法,即旋回航行时间应大于水下线导航行器流场影响区对应的导线下沉时间。经水下航行器旋回航行试验证明该方法的有效性,可知设置合理的旋回航行时间能够降低交汇时导线断线的概率。
Due to the limitation of the wire that is deployed out of the vehicle,the underwater wire-guided vehicle has the risk of wire breakage at the intersection of the route during the vehicle navigation process.In this paper,the bound-ary conditions of wire deployment with tension constraint and variable wire length on both sides are proposed,and a dynamic model of wire deployment is established using the lumped-mass method.The influence of route planning on the reliability of the wire deployment is analyzed.The underwater shapes of wires that have been deployed are simulated under the conditions of different gyration running times and deployment resistances.A method to reduce the probability of wire breakage at the intersection of the vehicle route is proposed,in which the gyration running time should be longer than the wire sinking time corresponding to the flow field influence area of the underwater vehicle.The method is proven to be effective through the gyration running experiments of underwater vehicles,and setting a reasonable gyra-tion running time can reduce the probability of wire breakage at the intersection.
作者
汤伟江
刘卫东
高卓
张凯
TANG Wei-jiang;LIU Wei-dong;GAO Zhuo;ZHANG Kai(School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China;The 705 Re-search Institute,China State Shipbuilding Corporation Limited,Xi’an 710077,China;Science and Technology on Under-water Information and Control Laboratory,Northwestern Polytechnical University,Xi’an 710072,China)
出处
《水下无人系统学报》
2021年第6期747-753,共7页
Journal of Unmanned Undersea Systems
基金
国家重点研发计划项目资助(2018YFC0308800).
关键词
水下线导航行器
航路规划
旋回航行
导线布放
underwater wire-guided vehicle
route planning
gyration running
wire deployment
