水下滑翔机垂直面动力学分析与仿真  

Hydrodynamic analysis and control simulation of an underwater glider in the vertical plane

作　　者：张华[1] 张进峰 张少伟[1] 倪先胜[1] 

机构地区：[1]武汉第二船舶设计研究所,湖北武汉430064 [2]东风德纳车桥有限公司,湖北襄阳441000

出　　处：《舰船科学技术》2015年第10期56-61,共6页Ship Science and Technology

摘　　要：水下滑翔机是一种依靠水动力和净浮力驱动的无外挂推进系统,具有能耗小、作业时间长的优点,主要应用于大范围、长时间、大尺度的海洋观测。本文针对在研的水下滑翔机原理样机,介绍基于CFX水动力计算软件的水动力计算方法,并采用最小二乘法辨识了滑翔机在垂直面作稳定滑翔运动时的水动力参数;分析水下滑翔机垂直面稳态运动时系统状态与控制量之间关系,并基于LQR控制方法设计水下滑翔机在垂直面作稳态滑翔运动时在不同俯仰角下的切换控制策略,仿真表明了这种控制方法的有效性。Autonomous Underwater Glider is a new concept underwater vehicle without external active propulsion system. When the gravity center of the glider ischanged, the net buoyancy and the hydrodynamic force as the propulsion systems propel the glider to glide at different pitch anglein the form of sawtooth trajectory. The underwater glider system fully utilizes the hydrodynamic and the buoyancy control is in a brief interval mode, so it is energy conservation and widely used in the ocean observation and data collect. Hence, it is important to analysis the hydrodynamic and design suitable control method to enhance the stability of the underwater glider system. Based on prototype underwater glider, we use CFX to compute the glider hydrodynamic and identify the hydrodynamicparameters in the vertical plane. And the LQR control method is used to control the glider to switch from different pitch angle. Simulation results show the effectiveness of this switch control method.

关 键 词：水下滑翔机 水动力分析 LQR 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]