矢量喷水推进式水下机器人的建模仿真与验证  

Simulation and experimental validation ofan autonomous underwater vehicle equipped with multi-vectored thrusters

作　　者：罗庆生[1] 刘星栋 弓瑞[2] 彭鲲宇 孙尧[1] 张浩[3] 

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京理工大学自动化学院,北京100081 [3]北京理工大学宇航学院,北京100081

出　　处：《应用科技》2017年第2期7-14,共8页Applied Science and Technology

基　　金：国家级大学生创新训练计划项目(201310007001)

摘　　要：为提高小型水下航行器的机动性与可控性,构建了一种基于矢量喷水推进系统的新型多自由度水下机器人。为使该机器人具有理想的运动特性和优异的操控性能,对其进行了理论建模、数值仿真与实验验证。首先建立其运动学和动力学模型,分析多矢量推进作用对机器人运动姿态和航行效果的影响,据此研究机器人多矢量喷水推进协调控制的策略与方法,实现机器人自主升沉、旋转、水平移动等多姿态水中运动。此后,采用MATLAB和ADAMS对所建模型和虚拟样机进行了数值仿真,并且对机器人实物样机进行了水下运动验证实验。仿真分析与实验验证的结果表明,该机器人的运动特性和操控性能符合高机动性和高可控性的设计要求。This paper presented a novel multiple degrees of freedom underwater robot based on multi-vectored waterjet propulsion systems in order to improve the controllability and maneuverability. The dynamics model of the robot was developed theoretically,simulated numerically and validated by experiments to achieve best dynamics performance and excellent maneuverability. The dynamics model was established firstly,the influence of multi-vectored propulsion on the motion posture and navigation effect was analyzed. According to the model,the coordinated control realized by robot＇s multi-vectored thrust was illustrated to implement various movements of robots,including automatically floating and submerging,rotating and horizontal movement. Numerical simulation was carried out by using MATLAB and ADAMS. Evaluation experiments were conducted to verify motional performance of prototype robots. Both results demonstrated motion characteristics and maneuverability of this type of underwater robot meet the design requirements of high controllability and maneuverability.

关 键 词：多自由度自治水下机器人(AUV) 矢量喷水推进系统 理论建模 MATLAB仿真 ADAMS仿真 实验验证 

分 类 号：U661.71[交通运输工程—船舶及航道工程]