深海运载器无动力纵倾上浮运动特性研究  

Research on Unpowered Trim Ascent Motion Characteristics of Deep-sea Vehicles

作　　者：赵志超 李天辰 谷海涛[1,2] 高浩[1,2] ZHAO Zhi-chao;LI Tian-chen;GU Hai-tao;GAO Hao(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;Naval Research Academy,Beijing 100161,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049 [4]海军研究院,北京100161

出　　处：《水下无人系统学报》2022年第5期586-596,共11页Journal of Unmanned Undersea Systems

基　　金：十三五预研项目资助(2020107-2002);中国科学院前沿基础研究项目(QYJC201913).

摘　　要：为提高深海无动力运载器上浮响应速度,满足任务载荷出水姿态要求,文中考虑洋流和浮力变化影响,基于四元数法和自主水下航行器空间运动方程,建立了运载器空间运动仿真模型,解决了大纵倾角和垂直上浮姿态求解奇异问题,探究了净浮力、重浮心距离、舵角、初始发射条件及海洋环境扰动对运载器纵倾上浮运动的作用规律。结果表明:基于四元数法的深海运载器空间运动方程,能有效避免运载器大纵倾角或垂直姿态上浮时姿态求解奇异问题;无动力运载器采用大纵倾角和垂直姿态上浮,可实现较大上浮垂向速度,减少其水平面漂移距离;浮力变化扰动和初始发射条件对运载器上浮状态影响较大。相关研究为无动力运载器总体布局以及大纵倾角和垂直上浮运动预报提供了参考。To improve the ascent response speed of unpowered deep-sea vehicles, and meet the requirements of mission loads for its water-exit attitude, considering the effect of ocean currents and buoyancy changes, a space motion simulation model of the vehicle was established. The quaternion method and the space motion equation of autonomous undersea vehicles were used to solve the singular problem of a large trim angle and vertical ascent motion. The effects of net buoyancy, distance between the center of gravity and buoyancy, rudder angle, initial launch conditions, and marine environmental disturbances on the trim ascent motion of the vehicle were explored and investigated. The results show that the space motion equation of a deep-sea vehicle based on the quaternion method can effectively avoid solving the singular problem of the attitude when the vehicle is ascending at a large trim angle or vertical attitude. Unpowered deep-sea vehicles can achieve a large vertical ascent speed and reduce the horizontal drift distance with a large trim angle or a vertical attitude. The disturbance of buoyancy changes and initial launch conditions have a great influence on the ascent state of the vehicle. The research provides references for the overall layout and the prediction of large trim angles and vertical ascents of deep-sea vehicles.

关 键 词：深海运载器 自主水下航行器 无动力上浮 大纵倾角 四元数法 浮力 

分 类 号：U674.941[交通运输工程—船舶及航道工程] TJ630.33[交通运输工程—船舶与海洋工程]