AUV Load Separation Motion with Constraint of Anchor Chain

摘要

Motion equations of AUV(autonomous underwater vehicle) load separation with the constraint of anchor chain is derived.Based on proper engineering assumptions for anchor chain,system viewpoint is used to found the motion equations,and the D'Alembert principle is used to eliminate the constraint force of anchor chain.Based on the equations,the motion simulation is carried out to a certain AUV,which reflects the actual condition,and is used for the reference of resrarching AUV load separation motion with the constraint of anchor chain.