一种矢量推进方式下的AUV数学建模

Mathematical Modeling of a Kind of AUV with Vector Thruster

某种矢量推进器的工作原理,在这种矢量推进方式下的AUV进行运动学和动力学分析的基础上,对其进行数学建模,并仿真。仿真结果表明,该模型符合AUV的实际运动规律。

This paper introduced a kind of vector thruster and analyzed its operating principle, a kinematics and dynamics analysis of thruster vectored Autonomous Underwater Vehicle was made based on the structure and operating principle; and then a mathematical model of this thrust vectoring Autonomous Underwater Vehicle was made based on the classical Momentum and angular momentum theorem. At last the paper makes a simulation of its motion parameters, the result of simulation shows, the parameters response speed in the way of thruster vectored Autonomous Underwater Vehicle is faster than that in the way of ordinary vectored Autonomous Underwater Vehicle.