基于变质心控制的低速水下航行器动力学建模

针对水下滑翔机器人在低速运动过程中常规鳍舵低的问题,提出了通过设在航行器内部的3个滑动质量块运动,改变机器人动力学系统质心,从而改变了作用在机器人上的流体动力力矩,进而改变其姿态角,从根本上克服了常规的鳍舵控制方法的不足。本文基于广义d’Alembert方程推导了基于变质心控制的水下滑翔机器人的4刚体9自由度动力学方程,进行了纵平面下的弹道仿真。

Dynamic Modeling of a Low Speed Underwater Vehicle Based on Moving Mass Control

Because the velocity of an underwater glider is slow,its rudder is not efficient and therefore cannot provide enough control force. To solve the problem,the paper proposes using the motion of three moving masses set inside the glider so as to adjust the centroid of its dynamic system and change the hydrodynamic moment exerted upon it and therefore its attitude and attack angle,thus overcoming the inability of the rudder to control the glider.Based on the generalized d′Alembert equation,the paper derived nine-DOF dynamic equations for an underwater glider with nine DOFs and four rigid bodies using the centroid control.Finally it simulated the glider′s motion as shown in profile by the ballistic curves in Figs.3 through 11.