自主稳定可控制水下拖曳体的设计及控制性能  

Design and Control Performance of the Self-Stable Controllable underwater Towed Vehicle

作　　者：吴家鸣[1] 叶家玮[1] 

机构地区：[1]华南理工大学交通学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2005年第5期69-73,共5页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(40276034);教育部留学回国人员科研启动基金资助项目

摘　　要：针对现有可控制拖曳体控制机构复杂、姿态不容易稳定的缺陷,提出并设计了一种自主稳定可控制拖曳体的样机.该拖曳体主要由可调节攻角迫沉水翼、方向稳定浮体和矩形主体组成,拖曳体的轨迹与姿态控制由主动迫沉水翼以及双尾推进器产生的力和力矩的改变来实现.水动力操纵试验表明:采用前述方法设计的拖曳体具有良好的姿态稳定性和更高的深度操纵效率,对其控制系统的设计要求也大大简化.In order to solve the problems of complicated control mechanism and unstable attitude of conventional controllable underwater towed vehicles, a new self-stable controllable underwater towed vehicle is proposed. The proposed vehicle consists mainly of a controllable depressing wing, a stable buoyant chamber and a main body shaped like a rectangular wing. The trajectory and attitude of the vehicle are manipulated by the depressing force and turning moment provided by the active depressing wing and two stern thrusters. The results of the hydrodynamic control experiment for the proposed vehicle show that, with the above-mentioned design, the proposed vehicle is of good stability in attitude and great efficiency in rapid trajectory manipulation, and the design of the control system of the vehicle is greatly simplified.

关 键 词：自主稳定性 控制 水下拖曳体 海底探测 

分 类 号：TV131.2[水利工程—水力学及河流动力学] P715.5[天文地球—海洋科学]