AUV水平面运动稳定曲面的建立与仿真  

On the Stability Surface and Simulation of the Horizontal Motion of AUV

作　　者：潘瑛[1] 徐德民[1] 潘峰[1] 崔荣鑫[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《计算机仿真》2006年第8期5-8,共4页Computer Simulation

摘　　要：在自主水下航行器(简称AUV)壳体外形确定后,可以适当对舵面大小与重心位置进行调节来满足不同速度下的AUV水平面运动稳定性。该文重新建立了包含有舵因素的AUV水平面运动稳定性方程,并将重心位置、舵面系数以及速度与稳定性的关系用曲面表示出来。该稳定曲面的建立为AUV舵面设计以及重心位置的确定提供了可靠的参考依据。文中最后给出的仿真实例验证了所建稳定曲面的正确性与实用性。Fin sizes and the center of the gravity can be properly adjusted to maintain the stability ot horizontal motion of AUV with different velocities when the cell of the autonomous underwater vehicle （AUV） is established. This paper sets up a new model of stability equation including the fins coefficient and builds a stability surface based on the factors of the center of gravity, the fins coefficient and the velocity of AUV. The stability surface indicates the relations between the stability and the three factors above mentioned clearly, and makes it easy to choose proper parameters for getting the stability of the horizontal motion of AUV at the designing stage. The following simulations show the validity and applicability of the stability surface.

关 键 词：自主水下航行器 水平面运动 稳定曲面 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] U661.334[自动化与计算机技术—计算机科学与技术]