Abstract
In this paper, the collision problem between the underwater robot and the bell-mouth guided docking station in the process of dynamic docking is studied by using ADAMS/MATLAB co-simulation technology. By analyzing AUV’s underwater force condition and collision related parameters, the collision force curve during the dynamic docking process of AUV and recovery docking station under the given initial state was solved, and the maximum collision force during the collision process was obtained. It provides a reference for the minimum collision force that the system and materials can bear in the actual docking process. At the same time, a collision attitude control system with PID as the main control method is designed to realize the recovery task of AUV under the environmental interference. The control system can not only adjust the attitude of the AUV after the collision with the mobile docking station, but also reduce the dynamic docking time of the AUV and improve the recovery efficiency. It has great practical significance and can provide guidance for the dynamic docking task of the actual AUV.
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