基于仿生翼的潜器综合减摇技术研究  

Research on Integrated Stabilization System Using Zero Speed Fin Stabilizer for AUV

作　　者：金鸿章[1] 吉向敏[1] 王晓伟[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制工程》2011年第1期105-108,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(50575048;50879012)

摘　　要：为了满足日益增高的潜器稳定性的要求,探讨并应用新型仿生翼来替代舵控制潜器近水面的横摇、纵摇运动。对近水面海浪干扰力、力矩进行了数值计算,以某一小型潜器作为研究对象,建立潜器六自由度运动模型,并考虑了仿真的需要对模型进行了合理的简化。针对系统特性设计模糊自适应PID控制器,并对潜器近水面运动进行仿真,仿真结果显示该种姿态控制设计方法能很好解决潜器近水面姿态控制问题。Zero speed fin stabilizer is used on the AUV to satisfy the stability of AUV,so movement of the submarine can be controlled well.The wave force and moment are regarded as the primary factors in disturbing the submarine state near the surface,and are calculated.The six-dimensional mathematical model are simplified according to the practical sailing situation,the simulation of submarine motion attitude control system based on the zero speed fin are established.Motion control system of AUV based on the fuzzy-adaptive PID controller has been designed.Analyzing the simulation results of AUV motion near the surface to show that zero speed fin stabilizer can control rolling and pitching motion of AUV better.

关 键 词：潜器 仿生翼 近水面运动 综合减摇 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]