水下驻留无人水下航行器驻留过程建模与仿真  

Modeling and Simulation of Unmanned Underwater Vehicle Parking on Seabed

作　　者：张斌[1] 宋保维[1] 朱信尧[1] 朱崎峰[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《兵工学报》2014年第4期572-576,共5页Acta Armamentarii

摘　　要：针对水下驻留无人水下航行器(UUV)的运动特点,建立了大攻角下UUV运动仿真的六自由度数学模型,提出了一种驻留UUV辅助推进器的控制方法,并对UUV驻留过程中的下潜运动进行了仿真研究。具体分析了UUV下潜驻留运动中攻角、侧滑角、速度、俯仰角等参数的变化规律。仿真结果表明:航行器的轴向速度在阻力作用下逐步减小,趋近于0;在辅助推进器的作用下,UUV下潜速度被限定在安全范围内,导致UUV攻角逐步增大,直至接近90°;在前后2个辅助推进器的作用下,航行器的信仰角始终被控制在合理范围内,从而确保UUV具有良好的着陆姿态。According to the movement characteristics of unmanned underwater vehicle（UUV） parking on the seabed, a numerical simulation model is established, which is suitable for large angle of attack movement. A new control method of auxiliary thrusters is put forward. The diving movement of UUV underwater is simulated. The change rules of the angle of attack, sideslip angle, velocity and pitch angle of UUV during diving and parking are analyzed. The simulation results show that the axial velocity of vehicle is gradually decreased to approach zero under the action of fluid resistance. Meanwhile, under the action of the auxiliary thrusters, the vehicles＇s diving speed is limited within a safe range. This means the UUV＇s angle of attack gradually increases to about 90 degrees. The pitching angle of vehicle can be controlled in a reasonable range under the interaction of two auxiliary thrusters, too, which means the vehicle can park on the seabed with a proper attitude.

关 键 词：兵器科学与技术 无人水下航行器 海底停驻 运动仿真 辅助推进器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]