Abstract
Suspension docking systems offer significant application potential in autonomous underwater docking operations because of their deployment and recovery convenience. This study investigated the interaction between an axisymmetric, underactuated autonomous underwater vehicle (AUV) and a suspended guiding hood docking device (DOCK). The effects of collision velocity, collision location, collision angle, mass, and moment of inertia on the post-collision kinematic states of both bodies are analyzed. Previous studies have typically determined AUV parameters using empirical formulas, whereas few have clearly described the calibration procedure for the hydrodynamic drag coefficients of a suspended guiding hood DOCK. In this study, the hydrodynamic coefficients of both the AUV and the DOCK were determined using STAR-CCM+ and embedded into the ADAMS built-in functions to construct a physically more realistic simulation model. Subsequently, water tank experiments were conducted for suspension docking collisions. The validity of the simulation model was verified by comparing the kinematic states of the DOCK and AUV observed from the simulations and experiments. Based on the established model, the docking dynamics under various operating conditions were simulated. The simulation results indicate that the AUV mass should not exceed twice the mass of the DOCK, and the moment of inertia of the DOCK should be maximized. The risk of suspension docking failure increases significantly when the mooring line length exceeds 40 m, and the negative buoyancy of the DOCK should be at least 300 N. These findings provide critical guidance for improving the success rate of suspension docking operations.