为更好地利用海底悬浮坞站促进自主式水下航行器（AUV）的快速充电和数据传输，本文针对AUV与单点系泊式坞站对接碰撞问题展开研究。首先，进行AUV和悬浮坞站相关受力和碰撞参数的分析，基于Adams/Matlab联合仿真平台，建立水下对接仿真模型；然后，研究AUV的偏距、偏角、初始速度等参数对整个对接过程的影响；最后，对于碰撞过程中姿态偏离较大问题，设计了姿态稳定控制器，并完成了控制仿真。仿真结果表明，AUV在满足舵效前提下，以5°左右的偏角、较小的偏距及较小初始速度有利于对接回收；控制器能够及时调整碰撞后AUV的姿态，有效降低碰撞风险，缩短回收时间，提高对接效率。
In order to better utilize seabed floating docking stations to promote rapid charging and data transmission of autonomous underwater vehicles (AUV), this paper focuses on the docking collision problem between AUV and single point moored docks. The relevant force and collision parameters of the AUV and the floating dock station were analyzed, and the underwater docking simulation model was built based on the Adams/Matlab joint simulation platform. Based on the proposed model, the influences of five parameters on the entire docking process were studied, including the offset, deflection angle, initial velocity of the AUV. To address the issue of significant attitude deviation during the docking collision process, a sliding mode attitude stabilization controller was designed and the control simulation was completed. The simulation results show that a deflection Angle of about 5°, a smaller deflection distance and a smaller initial speed under the premise of meeting the rudder efficiency can contribute to successful docking process. The controller can adjust the AUV attitude in real time, effectively reduce collision risk, shorten recovery time and improve docking efficiency.
2025,47(23): 106-112 收稿日期：2025-3-28
DOI：10.3404/j.issn.1672-7649.2025.23.016
分类号：U662.2；P715
作者简介：高思维(2000-),女,硕士研究生,研究方向为智能无人系统
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