水下移动对接技术是发展海上无人集群协同的关键技术，可支持开展USV-UUV编队、异构UUV编队、潜艇-UUV有人无人协同等多样式应用。针对水下移动对接系统开展总体设计研究，具体涉及坞站稳定性、对接流程、对接导引方式等，并开展了声学导引、光学导引、对接控制等具体技术研究，设计了由移动坞站、对接潜航器构成的水下移动对接技术验证系统，该验证系统在千岛湖共开展了5条次对接验证试验，一次对接成功率达到80%，实现了弱操控航行器对小型移动坞站的可靠对接。该对接系统和对接控制方法的通用性强，可模块化移植至多型水下无人平台。
Mobile underwater docking technology plays a crucial role in advancing group collaboration for unmanned marine systems, supporting a range of applications such as USV (Unmanned Surface Vehicle)-UUV (Unmanned Underwater Vehicle) formations, heterogeneous UUV formations, and submarine-UUV manned/unmanned cooperation. This paper presents the key design aspects of the mobile underwater docking system, including acoustic-optical composite guidance, towed direction control, platform velocity synchronization, and mechanisms for missed docking detection and recovery. In addition, we explore the docking control method and the design of docking components for UUVs. The system was validated through lake-based experiments, demonstrating reliable docking between lightly controlled vehicles and compact mobile docking station. The UUV successfully completed five docking operations, achieving an 80% first-attempt success rate. The proposed docking system and control methodology exhibit strong versatility, allowing for modular integration across various unmanned underwater platforms.
2026,48(6): 25-30 收稿日期：2025-9-3
DOI：10.3404/j.issn.1672-7649.2026.06.004
分类号：U675.79；TP242
基金项目：国家重点研发计划项目（2021YFC2801604）；中船集团自立科技研发专项项目
作者简介：程烨(1988-),男,硕士,高级工程师,研究方向为水下物联网、水下对接技术
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