AUV近水面波浪跟随控制及环境参数分析  

Near-surface motion modeling and wave-following control of AUVs

作　　者：王一[1,2] 汪旋 王检耀 李相衡 WANG Yi;WANG Xuan;WANG Jianyao;LI Xiangheng(State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Key Laboratory of Marine Intelligent Equipment and System Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240;Wuhan Second Ship Design and Research Institute,Wuhan 430205,China)

机构地区：[1]上海交通大学海洋工程全国重点实验室,上海200240 [2]海洋智能装备与系统教育部重点实验室(上海交通大学),上海200240 [3]武汉第二船舶设计研究所,湖北武汉430205

出　　处：《中国舰船研究》2025年第1期340-349,共10页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(12202265)。

摘　　要：[目的]针对自主水下航行器(AUV)执行通信任务的隐蔽性要求,提出一种带折叠天线的AUV近水面通信模式。[方法]基于切片理论对规则波的波浪干扰力进行预报,建立AUV五自由度近水面运动方程;结合视线法(LOS)和PID控制器,开展AUV本体的波浪跟随控制仿真研究。[结果]仿真结果表明,空间循迹运动的法向跟踪稳定精度为0.2476m,波浪跟随运动的垂向跟踪稳定精度为0.2326m,控制效果较好。同时,统计分析发现,波高和波频对控制效果影响显著,波高和波频越大,控制效果越差。[结论]所做研究验证了AUV近水面波浪跟随运动的可行性,可为高隐蔽实时通信等提供理论模型支撑。[Objective]To address the covert communication requirements of autonomous underwater vehicles(AUVs),this study proposes a near-surface communication mode equipped with a foldable antenna.[Methods]Utilizing strip theory to predict the wave forces of regular waves,a five-degree-of-freedom motion equation for the AUV near the water surface is established.Simulation studies on wave-following control of the AUV are conducted using the line-of-sight(LOS)method and PID controllers.[Results]Simulation results demonstrate that the normal tracking stability accuracy of the spatial trajectory is 0.2476 m,and the vertical tracking stability precision of wave-following motion is 0.2326 m,indicating satisfactory control performance.Statistical analysis reveals that wave height and frequency significantly impact control effectiveness;larger wave height and frequency result in poorer control outcomes.[Conclusion]This study validates the feasibility of wave-following motion for AUVs near the water surface,providing theoretical support for high-covert real-time communication applications.

关 键 词：自主水下航行器 波浪干扰力 波浪跟随控制 视线法 PID控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程] U674.941[交通运输工程—船舶与海洋工程]