多矢量推进水下航行器深度分组控制数学建模分析

Mathematical modeling and analysis of depth group control for multi-vector propulsion underwater vehicle

传统水下航行器控制模型分析算法缺少对矢量动力参数的模型分析计算逻辑,因此造成控制模型分组参量关系分析不足,导致水下航行器控制动力输出量出现偏差的问题。因此,提出多矢量推进水下航行器深度分组控制数学建模分析。通过引入非线性适量运动算法,对水下航行器矢量推进下的运动进行数学模型建立分析;得到运动参数后,引入动力分组控制算法,根据计算得到的运动参数,对水下航行器进行深度分组控制模型的建立计算,从而得到准确的控制参量。最后,通过设计的仿真实验对上述分析结果进行准确性验证,证明提出方法的可行性。

The traditional underwater vehicle control model analysis algorithm lacks the model analysis and calculation logic of vector dynamic parameters,which results in the inadequate analysis of grouping parameter relationship of control model and the deviation of power output of underwater vehicle control.Therefore,the mathematical modeling and analysis of deep grouping control for multi-vector propulsion underwater vehicle is proposed.Firstly,the mathematical model of the motion of underwater vehicle under vector propulsion is established and analyzed by introducing the non-linear moderate motion algorithm.After obtaining the motion parameters,the dynamic grouping control algorithm is introduced.According to the calculated motion parameters,the deep grouping control model of underwater vehicle is established and calculated.Finally,the accuracy of the analysis results is verified by the designed simulation experiment,which proves the feasibility of the proposed method.