矢量推进自主水下航行器动力学建模及仿真

Dynamic Modeling and Simulation of Autonomous Underwater Vehicle with Vectored Thruster

采用单矢量推进器进行航向控制的自主水下航行器(autonomous underwater vehicle,AUV),与采用传统的鳍舵进行航向控制的AUV相比,具有更好的低速操控性及定位精度.根据单矢量推进式AUV的特点,将AUV的推力视为螺旋桨转速及矢量推进器摆角的函数,运用Newton-Euler法建立了AUV的6自由度运动学模型和动力学模型,采用四阶五级龙格-库塔方法对单矢量推进式AUV动力学模型进行了求解,在Matlab环境下对其动力学行为进行了仿真预测,并通过水域试验验证了所建模型的正确性,为控制系统的设计奠定了基础.

Compared with the autonomous underwater vehicle（AUV）equipped with rudders,the AUV with vectored thruster has better maneuverability at low velocity and can achieve more precise positioning. According to the charac-teristics of the AUV with single vectored thruster,the 6-DOF kinematic model and dynamic model of the AUV are established using Newton-Euler method. In the dynamic model,the thrust force is considered as a function of the rotational speed of the propeller and the tilt angle of the vectored thruster. Dynamic behavior of the AUV with single vectored thruster is simulated using five-level four-order Runge-Kutta method in Matlab. The dynamic model,which lays a strong foundation for designing of the control system,is verified through physical tests in lake.