水下航行器多推进器动力定位控制

主要研究远程低速水下航行器在大攻角和大侧滑角情况下不依靠舵而仅依靠垂推和侧推来实现动力定位，通过对水下航行器应用非线性控制方法实现水下航行器在纵平面内的爬潜定位和水平面内的旋转定位。分别建立水下航行器在攻角和侧滑角为90。的纵向和侧向在有2个垂推和2个侧推情况下的非线性运动模型，选用变结构控制方法进行控制，仿真并得到比较理想的效果。

Control of Dynamic Position System for AUV with Multiple Thrusters

For long-range and low speed AUV, dynamic location depending on vertical and horizontal thrusters, no rudders was studied at large attack and slide angles. The situation when the attack angle and the slide angle are 90° was discussed. A nonlinear model in that situation was designed and the variable structure controlling law was used to make the AUV get to the dynamic position in the vertical and horizontal planes. The simulated results show that the vehicle can basically achieve the giving posi?tion and the orientation.