基于姿态控制力矩陀螺的水下航行体运动建模方法研究  

Research on the Modeling Approach for Underwater Craft's Motion Based on Control Moment Gyros

作　　者：唐国元[1] 徐正武[1] 黄道敏[2] 邓智勇[3] 刘通[1] 张超华[1] 

机构地区：[1]华中科技大学船舶与海洋工程学院,武汉430074 [2]武汉空军预警学院,武汉430010 [3]武汉第二船舶设计研究所,武汉430064

出　　处：《中国造船》2014年第2期18-27,共10页Shipbuilding of China

基　　金：湖北省自然科学基金资助项目(2013CFB154);上海交通大学海洋工程国家重点实验室开放基金资助项目(1304)

摘　　要：以舵作为水下航行体运动姿态控制装置时,其控制能力容易受到航速限制。本文考虑采用控制力矩陀螺(CMG)进行水下航行体的姿态控制,从而避免水下航行体在零速或低速时舵效丧失而导致机动能力下降。考虑到水下航行体可能大姿态角度机动,引入欧拉四元素建立其运动学方程;将水下航行体看作刚体,考虑陀螺装置的力矩效应及水动力的影响,运用动量和动量矩定理,针对安装有控制力矩陀螺的水下航行体建立了新的动力学模型方程。对建立的模型进行了仿真,结果表明:陀螺装置所产生的力矩对水下航行体的运动姿态角参数产生了显著的影响,这为CMG在水下航行体运动控制上的应用提供了有效基础。Rudder is usually used as an attitude control device for underwater crafts, though its control ability was commonly limited by the speed of crafts, and it may loss effectiveness when craft is at rest or running at low speed. To overcome the disadvantages, the control moment gyroscopic （CMG） is applied to controlling attitude of underwater craft in this paper. As underwater craft may have a large attitude angle, Euler’s four-parameter is adopted to build kinematics equation. Underwater craft is treated as a rigid, and then a dynamic model of underwater craft is built with moment and momentum theorem, where fluid dynamic forces are considered. The results show that gyroscopic effect has a significant effect on underwater craft, which shows a good prospect of applying CMG in attitude control of underwater craft.

关 键 词：控制力矩陀螺 水下航行体 动力学模型 欧拉四元素 

分 类 号：U674.76[交通运输工程—船舶及航道工程]