全海深AUV上浮运动稳定性分析

Kinematic stability analysis on rising locomotion of full ocean depth AUV

针对现有的水下机器人的运动稳定性分析仅局限于定深直航的现象,本文对全海深AUV上浮运动稳定性进行研究,研究内容对机器人的稳定性判别和相应的机器人水动力型体设计以及运动控制策略设计具有重要意义。论文根据古尔维茨判别法的思想推导了全海深AUV从水面下潜至工作深度以及从工作深度上浮至水面的运动稳定性判定公式,通过计算一台全海深AUV的水动力系数,利用所推导的稳定性判定公式,对该台水下机器人的运动稳定性进行评判,结果表明该水下机器人的稳定性符合设计要求,全海深AUV在上浮过程中具有良好的动稳定性。

The analysis of the kinematic stability of existing underwater vehicle is limited to the phenomenon of fixed depth and straight navigating,in this paper,kinematic stability analysis on rising locomotion of full ocean depth AUV is studied.The research content is important for the stability determination of the underwater vehicle and the corresponding hydrodynamic model design and motion control strategy design.According to the idea of Hurwitz,the paper deduces the stability determination formula of the whole sea deep AUV from the surface dive to the working depth and from the working depth to the water surface and calculates the hydrodynamic coefficient of full ocean depth AUV,and uses the derived stability judgment formula to judge the motion stability of the underwater vehicle.The results show that the stability of the underwater vehicle meets the design requirements,the full ocean depth AUV has good dynamic stability during the floating process.