水下无人航行器高速航行下的运动特性及仿真控制研究  

Research on motion characteristics and simulation control of underwater unmanned vehicle at high speed

作　　者：王磊[1,2,3,4] 任梦晨 张占阳[1,2,3] 李德军 张伟[1,2,3] 杨青松 WANG Lei;REN Meng-chen;ZHANG Zhan-yang;LI De-jun;ZHANG Wei;YANG Qing-song(China Ship Scientific Research Center,State Key Laboratory of Deep-Sea Manned Vehicles,Wuxi 214082,China;State Key Laboratory of Deep-Sea Manned Vehicles,Wuxi 214082,China;Taihu Laboratory of Deep-sea Technological Science,Wuxi 214082,China;Shanghai Jiaotong University,Shanghai 200240,China)

机构地区：[1]中国船舶科学研究中心,江苏无锡214082 [2]深海载人装备国家重点实验室,江苏无锡214082 [3]深海技术科学太湖实验室,江苏无锡214082 [4]上海交通大学,上海200240

出　　处：《舰船科学技术》2024年第6期86-89,共4页Ship Science and Technology

基　　金：江苏省前沿引领技术基础研究专项资助项目(BK20202006)。

摘　　要：水下无人航行器具有水下活动范围大、机动性好优点,主要用于大范围地形地貌勘探,水下高速长航程航行时,水下航行器运动特性和姿态控制是研究重点。本文建立水下航行器垂直面航行运动模型,分析高速航行下的运动特性。为保证高速航行高效稳定,提出PID方法控制纵倾和滑模方法控制深度的组合控制策略。通过仿真试验,开展高速航行运动仿真研究。研究结果表明,在高速航行下,水下航行器会产生一定纵倾,且随着航速增加,纵倾影响会越大,高速状态放大了水下航行器外形上下轻微不对称的特性,诱导产生的垂向水动力及力矩增大,进而引起纵倾;在高速航行条件下,水下航行器能稳定保持定深度长距离航行,控制策略具有很好的适用性。The underwater unmanned vehicle(AUV) has the advantages of large underwater range of activity and good mobility,and is mainly used for large-scale terrain and geomorphology exploration.When underwater high-speed and longrange navigation,the underwater vehicle motion characteristics and attitude control are the focus of research.In this paper,the motion model of underwater vehicle in vertical plane is established,and the motion characteristics of underwater vehicle at high speed are analyzed.In order to ensure efficient and stable high-speed navigation,a combined control strategy of pitch control by PID method and depth control by sliding mode method is proposed in this paper.Through the simulation test,the high-speed navigation motion simulation research is carried out.The research results show that the underwater vehicle will produce a certain pitch at high speed,and the influence of pitch will be greater with the increase of the speed.The high speed status magnifies the slightly asymmetric characteristics of the underwater vehicle shape,resulting in the increase of the vertical hydrodynamic force and torque,and then causes the pitch;Under the condition of high speed navigation,the underwater vehicle can maintain the constant depth and long distance navigation stably,and the control strategy has good applicability.

关 键 词：水下无人航行器 运动特性 高速航行 仿真 控制 

分 类 号：U674.941[交通运输工程—船舶及航道工程]