Impact analysis during docking process of autonomous underwater vehicle

Impact characteristics during the docking process of a new cone-type autonomous underwater vehicles (AUV) docking system was analyzed in order to ensure the successful docking of autonomous underwater vehicle. Results helped to support docking system design and parameter selection. A simulation model was built in the dynamic analysis software ADAMS (automatic dynamic analysis of mechanical systems) based on the hydrodynamic characteristics of autonomous underwater vehicles (AUV) and impact parameters. Four factors that were supposed to impact on the docking process were studied, including the shape of cone entrance, the materials of cone and AUV nose, the propulsion force of AUV and the initial attitude of AUV. The quality of docking process is evaluated by AUV entering the cone successfully, the maximum impact force during the process, and time spent from the beginning of impact to the finish of docking. It was found that small opening angle of the cone, small stiffness, big damping coefficient, good smoothness of materials and small cross-track deviation can contribute to successful docking process, whereas propulsion force has relatively small effect on the process. The simulation model was validated by comparing the experiment results and the simulation results under different positions and angles of AUV before impact initiates. ©, 2015, Zhejiang University. All right reserved.