CAJ | 학술논문

采用单矢量推进器进行航向控制的自主水下航行器(autonomous underwater vehicle，AUV)，与采用传统的鳍舵进行航向控制的AUV相比，具有更好的低速操控性及定位精度。根据单矢量推进式AUV的特点，将AUV的推力视为螺旋桨转速及矢量推进器摆角的函数，运用Newton-Euler法建立了AUV的6自由度运动学模型和动力学模型，采用四阶五级龙格-库塔方法对单矢量推进式AUV动力学模型进行了求解，在Matlab环境下对其动力学行为进行了仿真预测，并通过水域试验验证了所建模型的正确性，为控制系统的设计奠定了基础。
채용단시량추진기진행항향공제적자주수하항행기(autonomous underwater vehicle，AUV)，여채용전통적기타진행항향공제적AUV상비，구유경호적저속조공성급정위정도。근거단시량추진식AUV적특점，장AUV적추력시위라선장전속급시량추진기파각적함수，운용Newton-Euler법건립료AUV적6자유도운동학모형화동역학모형，채용사계오급룡격-고탑방법대단시량추진식AUV동역학모형진행료구해，재Matlab배경하대기동역학행위진행료방진예측，병통과수역시험험증료소건모형적정학성，위공제계통적설계전정료기출。
Compared with the autonomous underwater vehicle(AUV)equipped with rudders,the AUV with vectored thruster has better maneuverability at low velocity and can achieve more precise positioning. According to the charac-teristics of the AUV with single vectored thruster,the 6-DOF kinematic model and dynamic model of the AUV are established using Newton-Euler method. In the dynamic model,the thrust force is considered as a function of the rotational speed of the propeller and the tilt angle of the vectored thruster. Dynamic behavior of the AUV with single vectored thruster is simulated using five-level four-order Runge-Kutta method in Matlab. The dynamic model,which lays a strong foundation for designing of the control system,is verified through physical tests in lake.