论文部分内容阅读
结合工程实际对锚链进行简化假设,从系统的角度建立AUV载荷约束分离运动方程,并结合D’Alembert原理,消去锚链的约束反力。在此基础上,对该AUV在不同初始参数下的载荷分离运动进行仿真研究,仿真结果清晰的反映了AUV载荷分离运动情况。
According to the simplification hypothesis of anchor chain, the motion equations of AUV load restraint and separation are established from the perspective of system. According to the principle of D’Alembert, the restraining reaction force of chain is eliminated. On this basis, the simulation of load separation motion of AUV under different initial parameters is carried out. The simulation results clearly show the motion of AUV under load separation.