摘要
基于浮力驱动式航行器的巨大潜在应用价值,针对其独特的运动特征和可行的控制策略展开仿真研究。对浮力驱动式航行器的水动力学基本特点进行了深入分析,进而由此建立三维空间运动数学模型。在此基础上,重点研究了航行器纵平面的运动特性及其控制规律,建立了稳态参数表达式,将纵平面运动模型线性化,提出了利用线性二次调节器方法设计航行体控制器的方案,并以一组典型的航行体总体参数为例,通过仿真计算证明了控制方案的可行性和有效性。为浮力驱动式航行器总体和控制系统设计的工程应用提供了一定的理论基础与技术支撑。
Based on the huge application potential of the buoyancy-propelled underwater vehicle,the simulation research is carried out aiming at the idiographic characteristic of the movement of the vehicle and the feasible control strategy.This paper analyses the elementary character of the buoyancy-propelled underwater vehicle,then a 3D model of motion is established.The model is specialized to the vertical plane,the linearization of the model is presented,and the controller applying the linear quadratic regulator method is designed.A set of classical vehicle parameters are employed for simulation,and the results have proved the feasibility and effectiveness of the control scheme.The paper offers a certain theoretical foundation and technologic sustentation for the engineering application of the control system design of the buoyancy-propelled underwater vehicle.
出处
《计算机仿真》
CSCD
2008年第9期20-24,共5页
Computer Simulation
关键词
浮力驱动
动力学模型
线性化
线性二次调节器
Buoyancy-propelled drive
Dynamic model
Linearization
Linear quadratic regulator
