Study on dynamic characteristics analysis of underwater dynamic docking device

Abstract Autonomous recovery technology utilized by autonomous underwater vehicles (AUV) is facing enormous challenges resulting from rapid development. In this paper, the current research status of static and dynamic AUV docking is first introduced. Then two styles of underwater dynamic docking devices, captured-style and guided-style, are designed in accordance with two commonly used underwater docking devices. The two types of docking devices, focusing on their respective constitution characteristics, and working principles are introduced. The analysis is conducted on kinematics and movement stability. The two docking devices' dynamic characteristics are analyzed using computational fluid dynamics (CFD) software known as Star-CCM. The simulation results of the dynamic characteristics of the two docking devices are then compared. Finally, a preliminary lake test for the stable wing is carried out. Through the analysis of the two underwater dynamic docking devices' dynamic characteristics, we obtain conclusions: 1) the docking's stability is related to the relative position of hydrodynamic center point; 2) the relationship between the hydrodynamic characteristics of these two underwater docking devices and the velocity and attack angle is not exactly the same; 3) the velocity is an important factor affecting underwater dynamic docking or recycling an AUV.