实验尺度无人水下滑翔机设计与试验  

Design and experiment for laboratory-scale autonomous underwater gliders

作　　者：杨海[1] 刘雁集 张凯[2] 

机构地区：[1]中国舰船研究设计中心,上海201108 [2]上海交通大学海洋工程国家重点实验室,上海200240

出　　处：《中国舰船研究》2016年第1期102-107,120,共7页Chinese Journal of Ship Research

摘　　要：无人水下滑翔机是一种高效的水下机器人。实尺度滑翔机在一般水池内很难形成稳态的滑翔运动,不便于研究分析其动力学问题,因此设计一种实验尺度的水下滑翔机,详述滑翔机的设计、建模、控制与试验研究。首先,简述实验尺度滑翔机结构,利用CFD软件计算壳体的水动力参数。然后,根据机体的内部质量分布,建立滑翔机的动力学模型。最后,设计垂直剖面运动的线性二次型调节器(LQR)控制器与线性Kalman观测器,并在观察环节加入一定量的白噪声干扰。仿真结果表明,设计的控制器与观测器可在一定量干扰存在的情况下保证机体的正常运行。水池试验的结果表明,设计的滑翔机可在3 m水深范围完成稳态滑翔运动,并具有良好的稳定性及操纵性。The autonomous underwater glider is a type of highly efficient autonomous underwater vehicle.Aiming at the problem that full-scale legacy gliders have difficulties in forming steady gliding movement in typical tanks, which induces obstacles in their dynamics analysis, a laboratory-scale glider is designed in this paper, where the glider design, modeling, control,and experimental research are described in detail.Firstly, the structure of the glider is described, and hydrodynamic parameters are calculated based on CFD.Secondly, the glider＇s dynamic governing equation is established according to the internal mass distribution. Finally, the Linear Quadratic Regulator（LQR）controller and the Kalman observer are designed, and certain amount of white noise is added into the observation process. The simulation results show that the controller and observer ensure the normal operation of the glider in the presence of noise, and the glider can achieve steady gliding motion at 3 m depth range, suggesting good stability and maneuverability.

关 键 词：水下滑翔机 水动力参数 Kalman观测器 水池试验 

分 类 号：U661.71[交通运输工程—船舶及航道工程]