小型水下自航行器动力学建模与控制  

Dynamic Modeling and Control for Miniature Autonomous Underwater Vehicle

作　　者：侯巍[1] 王树新[1] 张海根[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《天津大学学报（自然科学与工程技术版）》2004年第9期769-773,共5页Journal of Tianjin University：Science and Technology

基　　金：国家"863"计划资助项目(2001AA632010).

摘　　要：水下自航行器动力学建模是其控制研究的基础,为此基于Newton Euler法建立了水下自航行器的一般动力学模型,其模型具有复杂非线性特征.利用解耦和摄动理论对模型进行了合理简化,将控制系统分解为弱耦合的子系统.基于简化模型设计了航速、航向、纵倾和深度控制器,仿真结果证明了自航行控制的鲁棒性和稳定性.The dynamics modeling of autonomous underwater vehicle is fundamental to the research of its control.Based on Newton-Euler's equations, the derivation of a general dynamics model for an autonomous underwater vehicle was studied,and the model was complicately nonlinear.By using decoupling and method of perturbation,the model was reasonably simplified.The system was separated into lightly interacting subsystems,and four autopilot controllers based on proportional integrating differential techniques were designed for forward speed,steering,pitch and depth control. Simulation results showed robust performance and stability of the autopilot.

关 键 词：水下自航行器 建模 控制 仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]