【摘要】 为了明确水面回收AUV过程中其自身运动特性，以数值方法作为主要工具，通过控制变量法分析自由液面对AUV运动的影响。建立AUV的近水面运动方程，通过数值模拟PMM，得到AUV近水面运动方程所需的全部水动力系数。最后，通过基于运动方程和CFD方法的水面直航轨迹交叉对比，对所求得AUV近水面运动方程的准确性进行了验证。结果表明，所求得的AUV近水面运动方程准确性良好，可为AUV水面回收过程中的运动控制提供参考。更多还原

【Abstract】 In order to clarify the motion characteristics of an AUV in the process of water surface recovery, firstly, using numerical methods as the main tool, the influence of free liquid on AUV motion was analyzed by the method of controlling variables. Secondly, the motion equation of the AUV near the water surface was established. Thirdly, through numerical simulation of PMM, all the hydrodynamic coefficients required for the AUV near-water motion equation were obtained.Finally, the accuracy of the obtained AUV near-water motion equation was verified by the cross-comparison of the water surface straight trajectory based on the motion equation and the CFD method. The results show that the obtained AUV motion equation near the water surface has good accuracy, which can provide a reference for the motion control and other follow-up work in the AUV water surface recovery process.更多还原