新型随控布局水下航行器近水面运动非线性模型研究

采用随控布局的新型水下航行器配备有多个不同方向的推进器,实现了直接升力控制和直接侧向力控制,具有巡航和悬停2种运动模式。文中详细分析并建立了不同运动模式下的流体动力模型以及环境因素的扰动作用模型,建立了新型水下航行器的6自由度非线性低频运动模型以及波浪作用下的高频运动模型,并进行了计算机仿真。仿真结果表明,该模型不仅可以模拟航行器的巡航以及悬停运动状态,还可以描述航行器的低频运动和高频运动状态,为航行器近海面运动的控制系统设计与仿真提供了参考。

Nonlinear Modelling of Control-Configured Underwater Vehicle in Complicated Oceanic Environment

The new type of control-configured underwater vehicle is equipped with multi-thrusters on different directions to realize direct hydrodynamic lift control and direct hydrodynamic side force control in two motion modes of cruise and hover. Hydrodynamic models of different motion modes and models of oceanic environment including wave and current are established. Then nonlinear motion equations with six degrees of freedom of the vehicle are deduced based on the momentum theorem and the momentum moment theorem. Simulation results show that the proposed models can simulate the motion modes of cruise and hover, and describe low and high frequency motion states of underwater vehicle. These models will be useful for the control system design and simulation of underwater vehicle moving near sea surface.