多轴矢量复合推进无人水下航行器动力学建模及运动仿真研究  

Dynamic Modeling and Motion Simulation of Multi-axis Vectored Thruster UUV

作　　者：陈云赛[1] 徐庆丰 姜清华 崔嘉宁 高永 CHEN Yunsai;XU Qingfeng;JIANG Qinghua;CUI Jianing;GAO Yong(Qingdao Innovation Development Base,Harbin Engineering University,Qingdao 266000,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学青岛创新发展基地,青岛266000 [2]哈尔滨工程大学船舶工程学院,哈尔滨150001

出　　处：《中国造船》2024年第5期87-99,共13页Shipbuilding of China

基　　金：国防科工局稳定支持科研项目(26312000626);装备预研应用创新项目“慧眼行动”(62602010263)。

摘　　要：针对水下航行器,在艏部布置2台二元矢量推进器,艉部锥形布置4台推进器,设计了一种“2+4”双组多轴矢量复合推进方案,并通过收合机构实现推力矢量化,提升了水下航行器的操纵性、机动性和推进效率,同时建立了采用该新型矢量推进布局的UUV操纵运动方程。在CFD仿真获取的水动力系数的基础上,对UUV的直航、潜浮、回转、螺旋下潜运动进行了数值仿真,准确预报了UUV的运动轨迹及状态;基于PID及FOPID控制器设计UUV水平面路径跟踪控制系统,实现了UUV对折线和曲线路径的精准追踪,表明“2+4”双组多轴矢量推进系统具有良好的操纵控制性能。An underwater unmanned vehicle(UUV)is designed with a propulsion system consisting of"2+4"dual-group multi-axis vectored thrusters,featuring two dual-axis vectored thrusters at the bow and four vectored thrusters arranged in a conical configuration at the stern.The propulsion system applies a folding mechanism to enable thrust vectoring,which significantly improves the vehicle's maneuverability,agility,and propulsion efficiency.The maneuvering equations for the UUV with the propulsion system are formulated.By utilizing hydrodynamic coefficients derived from CFD simulations,numerical analyses is conducted to assess the UUV's motions such as straight-line navigation,diving,turning,and spiral descent behaviors.The trajectory and state is accurately predicted.Furthermore,a horizontal path tracking control system was developed by using PID and FOPID controllers to achieve precise tracking of both linear and curved paths.The results show that the"2+4"dual-group multi-axis vectored propulsion system can provide superior maneuvering control performance.

关 键 词：多轴矢量推进 操纵运动模型 操纵运动仿真 路径跟踪 

分 类 号：U674.941[交通运输工程—船舶及航道工程]