直立式水下驻留平台座底稳定性分析
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摘要
建立了适用于大攻角状态的水下平台六自由度数学模型,使用四元数替代欧拉角描述平台姿态,以消除某些特殊情况下因平台姿态变化或个别欧拉角不确定性导致的运动方程奇异现象。基于弹性力学相关理论建立符合海底真实物理特性的弹塑性数值模型,将座底平台-海底间交互作用与平台空间运动模型相结合,预报直立式平台座底驻留后对海流作用的运动响应,分析平台座底稳定性,为后续设计提供参考。
A six degree of freedom numerical simulation model of unmanned underwater platform is established, which is suitable for large angle of attack. In addition, quaternion-based platform attitude model is adopted to substitute the traditional Eulerangle form so as to eliminate singular phenomena of motion equation under some special circumstances, namely platform attitude changes in large amplitude or some specific uncertain Euler-angles. On the basis of correlation theory of elastic mechanics, an elastic-plastic numerical seabed model which complies well with actual seabed physical characteristics is established, Combining the bottom-seated platform-seabed interaction with the platform' s space motion model, the motion response of vertical platform bottomseated mooring to ocean current effect is predicted, and the bottom-seated stability of platform is analyzed to provide references for subsequent design.
A six degree of freedom numerical simulation model of unmanned underwater platform is established, which is suitable for large angle of attack. In addition, quaternion-based platform attitude model is adopted to substitute the traditional Eulerangle form so as to eliminate singular phenomena of motion equation under some special circumstances, namely platform attitude changes in large amplitude or some specific uncertain Euler-angles. On the basis of correlation theory of elastic mechanics, an elastic-plastic numerical seabed model which complies well with actual seabed physical characteristics is established, Combining the bottom-seated platform-seabed interaction with the platform' s space motion model, the motion response of vertical platform bottomseated mooring to ocean current effect is predicted, and the bottom-seated stability of platform is analyzed to provide references for subsequent design.
引文
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[2]CHOI J K,KONDO H,SHIMIZU E.Thruster fault-tolerant control of a hovering AUV with four horizontal and two vertical thrusters[J].Advanced Robotics,2014(28):245-256.
[3]宋保维,朱信尧,曹永辉,等.UUV海底定点停驻策略及其关键技术[J].鱼雷技术,2010,18(6):401-405.
[4]SANGEKAR M N,THORNTON B,URA T.Wide area seafloor observation using an Autonomous Landing Vehicle with adaptive resolution capability[C]//OCEANS2012 IEEE.US:IEEE,2012.
[5]DU B,JIANG Y X,ZHANG H W.Dynamic Analysis of Landing Autonomous Underwater Vehicle[J].Transactions of Tianjin University,2012,18(4):298-304.
[6]宋保维,朱信尧,单志雄,等.UUV海底定点停驻受力特性及稳定性分析[J].西北工业大学学报,2012,30(1):94-101.
[7]严卫生.鱼雷航行力学[M].西安:西北工业大学出版社,2005.
[8]SMALLWOOD D A,WHITCOMB L L.Model-based dynamic positioning of underwater robotic vehicles:theory and experiment[J].IEEE Journal of Oceanic Engineering,2004,29(1):169-186.
[9]夏喜旺,杜涵,刘汉兵.关于大角度范围内四元数与欧拉角转换的思考[J].导弹与航天运载技术,2012(10):47-53.
[10]王飞.海洋勘探拖曳系统运动仿真与控制技术研究[D].上海:上海交通大学,2006.
[11]GOBAT J I.The dynamics of geometrically compliant mooring systems[D].Massachusetts:Massachusetts Institute of Technology,2000.