| 随控布局AUV动力定位系统综合模型研究 |
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| 引用本文： | 葛晖,严卫生,徐德民.随控布局AUV动力定位系统综合模型研究[J].计算机仿真,2008,25(6). |
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| 作者姓名： | 葛晖 严卫生 徐德民 |
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| 作者单位： | 西北工业大学航海学院,陕西,西安,710072 |
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| 基金项目： | 教育部跨世纪优秀人才培养计划 |
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| 摘 要： | 采用随控布局的新型水下航行器配备了多个不同方向的推进器,实现了直接升力控制、直接侧向力控制.能够完成水下动力定位、三维轨迹跟踪以及地形跟随等精确的水下作业.建立了新型水下航行器在动力定位模式下的低频和高频运动模型,以及推进器系统和波浪、海流等海洋环境的模型,最后给出了航行器动力定位系统的综合状态空间模型,进行了计算机仿真.仿真结果证明了建模方法的有效性,为动力定位综合控制系统的设计奠定了基础.
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| 关 键 词： | 动力定位 随控布局 水下航行器 状态空间模型 |
Modelling of Control-Configrued Underwater Vehicle Dynamic Positioning System |
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| GE Hui,YAN Wei-sheng,XU De-min.Modelling of Control-Configrued Underwater Vehicle Dynamic Positioning System[J].Computer Simulation,2008,25(6). |
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| Authors: | GE Hui YAN Wei-sheng XU De-min |
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| Affiliation: | GE Hui,YAN Wei-sheng,XU De-min(College of Marine Engineering,Northwestern Polytechnical University,Xi'an Shanxi 710072,China ) |
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| Abstract: | The new type control-configrued underwater vehicle is equipped with multi-thrusters in different directions. It realizes the direct hydrodynamic lift control, direct hydrodynamic side force control. It can accomplish accurate underwater position control such as the dynamic positioning, 3D trajectory tracking and terrain following. The low frequency motion model and the high frequency motion model of the vehicle are given under the dynamic positioning working mode, and the environment models including wave a... |
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| Keywords: | Dynamic positioning Control-configrued Underwater vehicle State-space model |
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