基于BTT控制的无人水下航行器动力学模型

针对传统采用侧滑转弯（STT）控制技术的无人水下航行器（uuv）快速机动时由于侧滑产生较大诱导力矩及其自动驾驶仪三通道间产生较强的耦合而降低其控制系统稳定性的问题，提出了采用倾斜转弯（BTT）控制技术的改进方法。根据UUV的航行动力学模型与倾斜转弯控制的特点，对UUV空间动力学方程进行了必要的简化，得到了基于BTT控制技术的UUV动力学模型，并从自动驾驶仪设计的简便性出发，提出了利用其法向过载作为状态变量的全状态可测量数学模型，为进一步设计基于BTT控制技术的UUV控制系统提供参考。

Dynamic Model of Unmanned Underwater Vehicle Based on BTT Control

The stability of traditional unmanned underwater vehicle(UUV) is deteriorated because of the induced rolling moment generated by skid and the cross-coupling among three autopilot channels in high-speed maneuver,so a bank-to-turn(BTT) control method is proposed to improve UUV maneuverability.Appropriate simplification of the spacial dynamic model of UUV is made according to the characters of the UUV navigation dynamic model and BTT control,hence a BTT control-based UUV dynamic model is obtained.Moreover,the normal overload are taken as state variables,which can be measured easily,in order to simplify the design of the autopilot.The proposed model may be suitable for the design of the UUV control system based on BTT control technology.