着陆式水下自航行器稳定性分析

Stability analysis of landing AUV

着陆式水下自航行器(AUV)是一种可以进行长时间工作的新型AUV。为了使其能够在复杂的海洋环境中安全的着陆,对其稳定性进行了分析。根据AUV六自由度动力学方程得到水平面内的运动方程,对其扰动方程进行拉氏变换,通过特征根的值来判断系统的稳定性。最后得出了着陆式AUV的重心坐标、舵力系数及航速对系统稳定性具有重要的影响,其中尾舵起着决定作用。而且通过水域试验验证了上述理论的正确性。此分析结果可为着陆式AUV的设计提供依据。

Landing AUV is a novel AUV which can work for a longer time than common ones. The stability analysis of landing AUV is performed for safely landing in complicated ocean environ- ment. Equations of planar motion are obtained then use the method of Laplace transform to these equations. Stability of landing AUV can be evaluated by eigenvalue of stability equations. It is found that center of gravity, fins coefficient and velocity of AUV have important influence on its stability, where fins are the key factor. It is validated by simulations and ocean trials.