舵桨联合操纵微小型潜器运动建模与仿真  

Dynamics Modeling and Simulation of a Small AUV Controlled by Thruster and Rudders

作　　者：王波[1] 苏玉民[1] 郭冰洁[1] 梁霄 

机构地区：[1]哈尔滨工程大学船舶工程学院,哈尔滨150001

出　　处：《武汉理工大学学报（交通科学与工程版）》2010年第4期644-648,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金项目(批准号:50579007);哈尔滨工程大学基础研究基金(批准号:HEUFT08001)资助

摘　　要：自主式水下潜器的运动具有强耦合、非线性等特点.基于动量定理和动量矩定理建立了潜器空间运动的六自由度数学模型,将潜器受力分解为各个模块并表达为矩阵形式.以开发的某舵桨联合操纵微小型潜器为对象,针对其特点并结合S面控制方法对此微小型潜器水下运动的速度控制、艏向控制和深度控制进行了仿真研究.仿真结果较为真实的反映了潜器的操纵性能,与水池试验结果的对比也验证了仿真的正确性.The motion of autonomous underwater vehicle（AUV）has the characteristic of high coupling and nonlinearity.The 6-DOF mathematic model of AUV moving in underwater space was derived based on momentum theorem.The forces acting on AUV were resolved to several modules which were expressed in matrix form.A mini-AUV controlled by thruster and rudders was researched.Considering the characteristic of mini-AUV,the velocity control,heading control and depth control were simulated by adopting S control method.Results of simulation reflect the maneuverability of miniAUV realistically and the comparison with experiment results also verifies the correctness of simulation.The mathematic model constructed in the paper can also provides reference for other under vehicle＇s control and simulation.

关 键 词：自主式潜器 动力学模型 S面控制 运动仿真 

分 类 号：U661.3[交通运输工程—船舶及航道工程]