复杂力学环境下潜器运动仿真建模与低航速协同控制方法

Motion simulation modeling and low-speed cooperative control method of submarine under complex mechanical environment

潜器近水面低速航行时舵效较低,并且受到近水面效应和波浪力的影响,精确操纵控制难度极大。针对潜器近水面低速航行典型工况,开展潜器运动控制研究。通过分析波浪力作用规律,建立潜器近水面运动数学模型,针对低速航行状态下对运动控制精度要求高与舵力不足的矛盾,提出基于操舵系统和均衡系统协同参与运动控制的方法。通过对潜器近水面低速运动仿真分析,有效消除了波浪引起的潜器运动变化,潜器的运动状态得到有效控制。

It is difficult to control the submersible accurately because of the low rudder efficiency and the influence of near surface effect and wave force. Aiming at the typical conditions of low-speed movement near the water surface, the motion control of submersible is studied. By analyzing the law of wave force action, the mathematical model of underwater vehicle near water surface motion is established. Aiming at the contradication between the high requirement of motion control accuracy and the lack of rudder force at low speed, a method of motion control based on the cooperative participation of steering system and balance system is proposed. Though the simulation analysis of the low-speed motion of the underwater vehicle near the water surface, the motion changes caused by waves are effectively eliminated. The motion of the submersible is effectively controlled.