微小型水下机器人操纵性能与运动仿真研究  

Research on Maneuverability and Simulation of Small Autonomous Underwater Vehicle

作　　者：王波 苏玉民 秦再白 

机构地区：[1]哈尔滨工程大学水下机器人实验室,哈尔滨150001

出　　处：《系统仿真学报》2009年第13期4149-4152,4158,共5页Journal of System Simulation

摘　　要：以某微小型水下机器人为对象,对其进行受力分析,并考虑海流环境的影响,以空间六自由度运动方程为基础建立其运动仿真模型。通过带附体的模型试验,得到水下机器人阻力曲线和各主要水动力系数,应用面元法预报了其控制面的水动力特性,在此基础上建立了水下机器人的运动仿真系统,对其在水平面和垂直面内的操纵性能进行了预报,仿真试验结果表明此水下机器人具有良好的操纵性能,运动仿真系统可以作为控制器设计与调试的试验平台。The dynamics of a small autonomous underwater vehicle was researched considering the effect of environment. The simulation model was built based on the six degrees freedom of motion equations. The resistance curve and main hydrodynamic coefficients of the vehicle were got through model experiment with accessory bodies. The forces of rudders were got by using panel method. The motion simulation system was constructed based on the above analyses and the maneuverability of the underwater vehicle in horizontal plane and vertical plane was analyzed. The simulation results show that the vehicle has good manipulation performance and the simulation system can be a testing platform for the design and debugging of the motion controller.

关 键 词：水下机器人 水动力 操纵性 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]