摘要
潜器水下悬停是指潜器在水下无航速时深度的保持和变动。这是一个非线性过程,随潜器状态及航行环境的不同而有很大变化。传统的控制方法缺乏自适应能力从而影响了控制效果。通过对潜器水下悬停运动的基本特征、实现条件及造成悬停深度不稳定等因素进行分析,建立潜器悬停运动数学模型及干扰力计算模型。并运用PID控制技术对潜器水下悬停运动的控制进行仿真研究,为潜器实现悬停提供技术支持和保障。
The underwater hovering of submarine is to keep and alter depth at zero speed.It is a nonlinear process which changes with the state of submarine and the difference of navigational condition.Traditional control methods affect the effect because of lacking of adaptive capability.Analysis is made on motion characters,realizing conditions and disturbing factors for submarine.And the submarine hovering mathematic model is established,as well as the disturbing force expression.PID control is used to simulate submarine hovering,which provides the technology support.
出处
《舰船科学技术》
2010年第5期107-110,共4页
Ship Science and Technology
关键词
潜器
悬停
仿真
submarine
hovering
simulation
