北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (9): 1108-1112.

• 论文 • 上一篇    下一篇

基于控制力矩陀螺的水下运载器动力学与仿真

连 仑, 吴 忠   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191
  • 收稿日期:2009-07-06 出版日期:2010-09-30 发布日期:2010-10-08
  • 作者简介:连 仑(1984-),男,陕西西安人,硕士生,lianlun25@yahoo.com.cn.
  • 基金资助:

    北京市优秀人才培养资助项目(20071D1600600411); 国家863计划资助项目(2007AA04Z259)

Dynamics and simulation of autonomous underwater vehicle based on control moment gyros

Lian Lun, Wu Zhong   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2009-07-06 Online:2010-09-30 Published:2010-10-08

摘要: 为弥补水下运载器(AUV,Autonomous Underwater Vehicle)中传统舵面控制机构的低速控制的不足,改善其操纵性能,引入单框架控制力矩陀螺(SGCMG,Single Gimbal Control Moment Gyro)作为控制机构进行姿态稳定与控制.把AUV简化为刚体,加入SGCMG,考虑水下环境的特点,建立基于SGCMG的AUV动力学模型,并仿真分析AUV的动力学、姿态运动、SGCMG的框架运动以及环境之间的相互作用.仿真结果说明:基于SGCMG控制的AUV的姿态机动快速、准确,低速性能理想,为操纵律设计及姿态控制算法研究提供基础.

Abstract: To improve autonomous underwater vehicle(AUV)-s low velocity control performance, a control moment gyro (CMG) was introduced as the attitude control system. Taking the fluid dynamics into account, the dynamic model of AUV was built based on CMG, and a simulation and analysis on AUV-s kinematics and attitude control also was made. The results show that AUV based on CMG has high efficient maneuverability and ideal low velocity control performance. Accordingly, AUV-s kinematics and attitude control can be realized. But the SGCMG steering law used doesn-t consider the singularity avoidance. Designing high performance steering law is the farther problem. It provides foundation for the design of steering law and attitude control.

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