螺旋桨驱动UUV推进系统研究

Research on Thrust System of Propeller Driven and Unmanned Underwater Vehicle

为了实现水下机器人(UUV,Unmanned Underwater Vehicle)的高精度控制,深入研究了螺旋桨驱动UUV推进系统各个环节运行机理,并建立了它们各自的数学模型,包括PWM模块、直流永磁电机、螺旋桨、舵的数学模型。多功能仿真试验和湖试试验的系统响应曲线基本吻合,一方面表明本文建立的推进系统模型的正确性,另一方面体现了在多功能仿真平台上调试的控制策略和控制器参数具有很大的可信度。

In order to accurately control unmanned underwater vehicle （UUV）, the mechanism and mathematical model of propeller driven UUV＇s thrusting system were deeply researched. Mathematical models of PWM, DC permanent-magnet motor, propeller and rudder of thrust system＇s component were deduced respectively. The curves on multifunction simulation platform in response to the system were coincided with the results in lake trial. The correctness of the mathematical models of thrust system was proved. Both the validation of control strategy and the controller parameter were of much convincibility and reliability.