高伟, 李天辰, 谷海涛, 姜志斌, 孙原. 深海AUV无动力下潜运动特性研究[J]. 机器人, 2021, 43(6): 674-683. DOI: 10.13973/j.cnki.robot.200385
引用本文: 高伟, 李天辰, 谷海涛, 姜志斌, 孙原. 深海AUV无动力下潜运动特性研究[J]. 机器人, 2021, 43(6): 674-683. DOI: 10.13973/j.cnki.robot.200385
GAO Wei, LI Tianchen, GU Haitao, JIANG Zhibin, SUN Yuan. Unpowered Diving Motion Characteristics of Deep-sea Autonomous Underwater Vehicle[J]. ROBOT, 2021, 43(6): 674-683. DOI: 10.13973/j.cnki.robot.200385
Citation: GAO Wei, LI Tianchen, GU Haitao, JIANG Zhibin, SUN Yuan. Unpowered Diving Motion Characteristics of Deep-sea Autonomous Underwater Vehicle[J]. ROBOT, 2021, 43(6): 674-683. DOI: 10.13973/j.cnki.robot.200385

深海AUV无动力下潜运动特性研究

Unpowered Diving Motion Characteristics of Deep-sea Autonomous Underwater Vehicle

  • 摘要: 为探究深海AUV无动力下潜过程中的运动特性,提高下潜运动预报精度,本文考虑海流和浮力变化影响,基于AUV空间运动方程,建立了其稳态无动力下潜运动的仿真方法.通过改变控制输入参数,揭示了AUV各状态量与净负浮力、重心位置、舵角及海洋环境之间的变化规律.结果表明:海流和浮力变化会使AUV的运动状态作出相应调整,以适应流动情况变化,但运动姿态始终是稳定的;无动力螺旋下潜可大大改善AUV在水平面内的漂移距离;相同环境干扰下,AUV下潜速度越快,耗时越短,其漂移距离越小.

     

    Abstract: In order to explore the characteristics of the deep-sea AUV (autonomous underwater vehicle) unpowered diving motion and improve the prediction accuracy of diving motion, the interferences of ocean current and buoyancy changes are considered, and a simulation method of AUV steady unpowered diving motion is established based on its space motion equation. By changing the control input parameters, the variation laws of state variables of AUV with respect to the net negative buoyancy, the position of the center of gravity, the rudder angle and the marine environment are revealed. The results show that because of the ocean current and buoyancy changes, the motion state of AUV will change to accommodate the new flow, but the motion posture is always stable. The unpowered spiral diving can greatly improve the drift distance of the AUV in the horizontal plane. Under the same environment interference, the faster the AUV dives, the shorter time it takes, and the smaller the drift distance is.

     

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