Dynamics and simulation of autonomous underwater vehicle based on control moment gyros
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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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Key words:
- autonomous underwater vehicle /
- control moment gyro /
- dynamics /
- simulation
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