Dynamics and simulation of autonomous underwater vehicle based on control moment gyros
-
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.
-
Key words:
- autonomous underwater vehicle /
- control moment gyro /
- dynamics /
- simulation
-
[1] Thornton B,Ura T,Nose Y,et al.Zero-G class underwater robots:unrestricted attitude control using control moment gyros[J].IEEE Journal of Oceanic Engineering,2007,32(3):565-583 [2] Thornton B,Ura T,Nose Y,et al.Internal actuation of underwater robots using control moment gyros .Oceans Europe,2005,591-598 [3] 严卫生.鱼雷航行力学[M].西安:西北工业大学出版社,2005 Yan Weisheng.Fish torpedo’s navigating dynamics[M].Northwest Industry University Press,2005(in Chinese) [4] 吴忠,吴宏鑫.单框架控制力矩陀螺系统的构形分析[J].航天控制,1998,16(1):19-27 Wu Zhong,Wu Hongxin.Configuration analysis of single gimbal control moment gyroscope systems[J].Spaceflight Control,1998,16(1):19-27(in chinese) [5] 吴忠,吴宏鑫.单框架控制力矩陀螺系统操纵律研究综述[J].宇航学报,2000,21(4):140-145 Wu Zhong,Wu Hongxin.Survey of steeringlaws for single gimbal control moment gyroscope systems[J].Journal of Astronautics,2000,21(4):140-145(in chinese) [6] 吴忠.单框架控制力矩陀螺动态操纵律设计[J].宇航学报,2005,26(1):24-28 Wu Zhong.Dynamic steering law design for redundant single gimbal control moment gyroscopes[J].Journal of Astronautics,2005,26(1):24-28(in chinese) -
点击查看大图
计量
- 文章访问数: 5554
- HTML全文浏览量: 163
- PDF下载量: 1156
- 被引次数: 0
下载:
