Chain Impact Analysis of an Autonomous Underwater Vehicle with Mooring System That Can Rest on the Seabed

Conception and background of an AUV that can rest on the seabed is introduced briefly. Mathematical model of spatial motion of the AUV has been established. Combined with the characteristics of this AUV, impact analysis mathematic models of chain have been established. Based on this, simulation system of chain impact is established using MATLAB. Based on the simulation system, influences of parameters of mooring system on chain impact are analyzedand gained the influences of anchor mass, diameter of chain, length of chain on chain impact under the condition of anchor falling or the main body of the AUV ascending. Finally, the influences of parameters of the AUV on falling distance are analyzed and the influences of positive buoyancy and falling velocity on falling distance are gained. Conclusions in this paper will provide theoretical basis to mooring system design and improvement of the AUV.