跨介巡航器水下运动数学建模  

Mathematical Modeling of Underwater Motion for a Cross-medium Vehicle

作　　者：窦铭昊 刘昫辰 黄东岳 王彪[4] 窦丽华[5] 陈杰[1,2] 陈本美 DOU Minghao;LIU Xuchen;HUANG Dongyue;WANG Biao;DOU Lihua;CHEN Jie;Ben MCHEN(Shanghai Research Institute for Intelligent Autonomous Systems,Tongji University,Shanghai 201210,China;National Key Laboratory of Autonomous Intelligent Unmanned Systems,Tongji University,Shanghai 201210,China;Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong 999077,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]同济大学上海自主智能无人系统科学中心,上海201210 [2]同济大学自主智能无人系统全国重点实验室,上海201210 [3]香港中文大学机械与自动化工程学系,中国香港999077 [4]南京航空航天大学自动化学院,江苏南京210016 [5]北京理工大学自动化学院,北京100081

出　　处：《控制工程》2023年第8期1488-1500,共13页Control Engineering of China

摘　　要：跨介巡航器由于其巨大的应用潜力受到了广泛关注。对于几何结构复杂的跨介巡航器,目前还没有被广泛接受的建模方法。本研究提出了一种多手段结合的建模方法,建立了“同济飞鱼”水空两栖巡航器的完整数学模型。建模过程包含动力学和运动学的机理模型推导,以及模型参数的确定。在参数确定过程中,综合运用了基于计算流体力学的水动力仿真手段以及针对机械结构的实验辨识方法,从而获得了完整的数学模型。Cross-medium vehicles have attracted extensive attention due to their potential of wide range of applications.At present,there is not a widely-accepted method to model the cross-medium vehicles with complex structures.This paper proposes a modeling approach combining multiple methods and tools,which is applied to obtain a mathematical model of an aquatic-aerial vehicle named TJ-Flying Fish.The work includes derive the first-principle model in kinematics and kinetics,and determine the model parameters.In the process of parameter determination,the hydrodynamic simulation method based on computational fluid mechanics and the experimental identification method for mechanical structure are used to obtain a complete mathematical model.

关 键 词：跨介巡航器 机理建模 系统辨识 计算流体力学 水动力仿真 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]