摘要
建立了驻留水下航行器的空间运动的运动学及动力学数学模型,结合其特点,建立了变浮力系统作用力及排水量变化数学模型、垂推作用力及控制数学模型、航行器艏艉距海底距离数学模型。在此基础上,建立了航行器海底上浮的二次启动仿真模型。提出了自由起浮、垂推控制两种二次启动策略,研究了变浮力系统注水位置对启动参数的影响。对比两种二次启动策略,分析了垂推对二次启动策略的影响。研究结果表明:航行器变浮力系统最好位于-0.6~0.6 m;安装垂推有利于航行器二次启动。研究结论为二次启动策略的设计以及航行器设计及改进提供理论依据。
Kinematic and dynamic mathematical models of spatial motion model of the AUV that can park on the seabed were established.Combined with the characteristics of this AUV,mathematic models of force and weight of variable buoyancy system,forces of vertical thrusters,the distance between seabed and bow or stern of the AUV were established.Control algorithm of vertical thrusters was designed.Based on this,restart simulation model was established.Two kinds of restart strategy of the AUV that can park on the seabed were proposed,which are taking off freely with positive buoyancy,taking off under the control of vertical thrusters.On this basis,the impact of position of water entered into the AUV on restart parameters was studied.Finally,the influences of vertical thrusters on restart strategy were analyzed through comparing different restart strategies.Results show that variable buoyancy system should be amounted at-0.6~0.6m and vertical thrusters have a positive impact on restart strategy.Results in this paper will provide theoretical basis to restart program design and the improvement of this AUV.
作者
朱信尧
宋保维
王树齐
杨松林
ZHU Xinyao;SONG Baowei;WANG Shuqi;YANG Songlin(School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China;School of Marine Science and Technology, Northwestern Polytechnical University, Xi′an 710072,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2017年第11期1669-1675,共7页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(51309125)
江苏科技大学博士启动基金项目(1012931605)
关键词
自主水下航行器
海底驻留
二次启动策略
垂直推进器
空间运动模型
变浮力系统
autonomous underwater vehicle
parking on the seabed
restart strategy
vertical thrusters
6-DOF motion model
variable buoyancy system