某新型远程自主水下航行器建模研究

根据某新型远程自主水下航行器的组成和特点,通过对其进行动力学和运动学分析,基于经典的动量和动量矩定理,建立了该新型自主水下航行器的数学模型。该模型不仅可以用来模拟航行器的正常巡航状态,而且可以用来模拟航行器的悬停状态,可用于航行器的操纵性分析及控制系统的设计与仿真。

Model of A New Type Long Distance Autonomous Underwater Vehicle(AUV)

It is well known that the hydrodynamic model of autonomous underwater vehicle(AUV) is very important for system analysis,design and simulation,but the traditional model of AUV is only suitable for cruise mode and suffers from the following shortcomings:(1) it considers only the hydrodynamic damping at cruise mode;(2)it considers only the hydrodynamic forces from the axial flow;(3)it does not consider the force and moment from the vertical thrusters and lateral thrusters.Thus this kind of model is not suitable for a new type long distance AUV(Fig.1 in full paper) that not only can cruise but also can hover.In order to overcome the above-mentioned shortcomings,a new hydrodynamic model for the new type AUV is proposed in this paper.In the full paper,we explain in detail the design of hydrodynamic model for the above-mentioned new type AUV;in the abstract,we just list the four topics of our explanation:(A)the kinematical equations of AUV;eqs.(1) and(3) in the full paper can be used to perform coordinate transformation between Earth-fixed coordinates and body-fixed coordinates;(B)the momentum and angular momentum of AUV;(C)external forces acting on AUV;eqs.(8) through(24)in the full paper are needed for calculating these forces;eqs.(15),(17),(23) and(24) are equations needed by the hover mode of the new type AUV;eqs.(15) is needed for damping moments;eqs.(17) is needed for cross-body flow forces and moments based on strip theory;eqs.(23) is needed for vertical thruster forces and moments;eqs.(24) is needed for lateral thruster forces and moments;(D)kinetic equations of AUV.The new hydrodynamic model has been successfully used in its control system simulation and has proved to be not only suitable for modeling the new type AUV at cruise mode but also suitable for modeling the AUV at hover mode.