一种基于试验数据的水下航行器流体动力参数辨识方法  

A Method for Identifying Hydrodynamic Parameters of Undersea Vehicle Based on Test Data

作　　者：赵冉 谢虎[1] 乔冰 ZHAO Ran;XIE Hu;QIAO Bing(The 710 Research Institute,China Shipbuilding Industry Corporation,Yichang 443003,China)

机构地区：[1]中国船舶重工集团公司第710研究所,湖北宜昌443003

出　　处：《水下无人系统学报》2018年第4期335-341,共7页Journal of Unmanned Undersea Systems

摘　　要：流体动力参数通过风洞试验或者数值计算难以获得精确值,对此飞行器一般采用系统辨识的方法优化流体参数,但是飞行器辨识使用类方波开环输入,具有一定的破坏性和风险,难以在水下航行器参数辨识中应用。文章提出了在水下航行器实航试验中采用交替变换的航路点进行闭环控制来替代传统的类方波开环输入,既能充分激发水下航行器动态特性又能确保航行安全;提出了将水下航行器分为多个通道分别进行辨识以降低辨识难度。最后以某型水下航行器为应用案例进行参数辨识优化,结果显示:实航试验中只要执行机构保持一段时间的极限舵也能获得该通道较好的辨识结果;单通道参数辨识也能获得较高的辨识精度。应用案例在参数辨识后,开环仿真结果与实航结果一致,证明了文中所提方法在实际工程应用中的可行性。It is difficult to obtain accurate values of hydrodynamic parameters through wind tunnel test or numerical calculation,therefore,the system identification method is usually employed for an aircraft to optimize its fluid parameters.However,the identification method for aircraft uses square-wave open-loop input,which is destructive and dangerous to a certain extent,so it is difficult to be used in undersea vehicle parameter identification.In this paper,a closed-loop control method adopting alternate path points is proposed to replace the traditional square-wave open-loop input for undersea vehicle in sea trial.It can both fully inspire undersea vehicle’s dynamic characteristics and ensure the safety of navigation.In order to reduce the difficulty of identification,the undersea vehicle is divided into several channels.Then,a certain type of undersea vehicle is taken as an example to optimize the parameter identification.The results show that satisfactory identification results of the channel can be obtained in sea trial as long as the actuator keeps the limit rudder for a period of time,and single channel parameter identification can also obtain high identification precision.After parameter identification,the open-loop simulation results are consistent with that from sea trial,which proves the feasibility of the proposed method in practical engineering application.

关 键 词：水下航行器 闭环控制 开环仿真 参数辨识 实航试验 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程] N945.13[自然科学总论—系统科学]