基于控制力矩陀螺的水下运载器动力学与仿真

Dynamics and simulation of autonomous underwater vehicle based on control moment gyros

为弥补水下运载器(AUV,Autonomous Underwater Vehicle)中传统舵面控制机构的低速控制的不足,改善其操纵性能,引入单框架控制力矩陀螺(SGCMG,Single Gimbal Control Moment Gyro)作为控制机构进行姿态稳定与控制.把AUV简化为刚体,加入SGCMG,考虑水下环境的特点,建立基于SGCMG的AUV动力学模型,并仿真分析AUV的动力学、姿态运动、SGCMG的框架运动以及环境之间的相互作用.仿真结果说明:基于SGCMG控制的AUV的姿态机动快速、准确,低速性能理想,为操纵律设计及姿态控制算法研究提供基础.

To improve autonomous underwater vehicle（AUV）＇s low velocity control performance,a control moment gyro（CMG） was introduced as the attitude control system.Taking the fluid dynamics into account,the dynamic model of AUV was built based on CMG,and a simulation and analysis on AUV＇s kinematics and attitude control also was made.The results show that AUV based on CMG has high efficient maneuverability and ideal low velocity control performance.Accordingly,AUV＇s kinematics and attitude control can be realized.But the SGCMG steering law used doesn＇t consider the singularity avoidance.Designing high performance steering law is the farther problem.It provides foundation for the design of steering law and attitude control.