CAJ | 학술논문

对自主式潜器空间运动进行精确建模和仿真对研究其操纵和控制特性有重要意义,本文以开发的"MAUV-Ⅱ"微小型潜器为对象,基于动量定理和动量矩定理建立了潜器空间运动的非线性数学模型,将潜器受力分解为各个模块并表达为矩阵形式.在运动非线性数学模型的基础上,结合虚拟现实技术建立了运动仿真系统,针对所研究潜器的特点,采用S面控制方法对此"MAUV-Ⅱ"水下运动的艏向控制和深度控制进行了仿真研究,同时进行了基于目标规划的长距离航行仿真试验.仿真结果反映了潜器具有较好的空间操纵性能,也验证了控制软件的可行性和可靠性.
대자주식잠기공간운동진행정학건모화방진대연구기조종화공제특성유중요의의,본문이개발적"MAUV-Ⅱ"미소형잠기위대상,기우동량정리화동량구정리건립료잠기공간운동적비선성수학모형,장잠기수력분해위각개모괴병표체위구진형식.재운동비선성수학모형적기출상,결합허의현실기술건립료운동방진계통,침대소연구잠기적특점,채용S면공제방법대차"MAUV-Ⅱ"수하운동적수향공제화심도공제진행료방진연구,동시진행료기우목표규화적장거리항행방진시험.방진결과반영료잠기구유교호적공간조종성능,야험증료공제연건적가행성화가고성.
Accurate modeling and simulation of autonomous underwater vehicle (AUV) is essential for autonomous control and maneuverability research. In this paper, a mini AUV-"MAUV-Ⅱ" was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of "MAUV-Ⅱ", the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the "MAUV-Ⅱ" has good spatial maneuverability, and verify the feasibility and reliability of control software.