摘要
现有的定体积动力学模型无法准确表达多模态水下航行器的动力学特征。针对该问题,综合考虑模态切换的控制需要以及浮力驱动系统的体积变化,基于坐标变换的方法建立了一种变体积多质点变位置矢量模型。在建模基础上开展对比实验,分析了模态切换场景下不同模型表达俯仰角的区别。结果表明,变体积多质点变位置矢量模型描述俯仰角更精准,更能满足复杂环境下模态切换的控制需要,对类似航行器的运动模拟与控制器设计具有实际参考意义。
The existing constant-volume dynamic model cannot accurately express the dynamic characteristics of multi-modal underwater vehicles.On this basis,considering the control needs of modal switching and the volume change of the buoyancy drive system,a variable-volume multi-mass point variable position vector model is established based on the coordinate transformation method.On the basis of modeling,the comparative experiments were carried out,and the differences between the pitch angles expressed by different models in the mode switching action scene were analyzed.The results show that the variable-volume multi-mass point variable position vector model can describe the pitch angle more accurately,which can better meet the control needs of model switching in complex environments,and has practical significance for the motion simulation and controller design of similar vehicles.
作者
宋大雷
王浩男
吕继康
周丽芹
贺同福
莫少雄
霍典
SONG Daei;WANG Haonan;LÜJikang;ZHOU Liqin;HE Tongfu;MO Shaoxiong;HUO Dian(College of Engineering,Ocean University of China,Qingdao 266000,China;Institute of Advanced Marine Studies,Ocean University of China,Qingdao 266100,China;Systems Engineering Research Institute,CSSC,Beijing 100094,China)
出处
《现代电子技术》
北大核心
2025年第20期25-29,共5页
Modern Electronics Technique
基金
国家自然科学基金项目(52301390)
山东省自然科学基金项目(ZR2022QE072)
青岛市博士后应用研究项目
中央高校基本科研业务费专项资金(202213029)。
关键词
多模态水下航行器
变体积模型
模态切换
俯仰角控制
位置矢量
坐标变换
multi-modal underwater vehicle
variable-volume model
modal switching
pitch angle control
position vector
coordinate transformation
