CAJ | 학술논문

为研究水下航行体的纵向速度对其余自由度运动所产生的影响及其自身所承受的静力学作用，在分析水下航行体运动模型的基础上，提出了一种改进S面运动控制器。该控制器不仅保留了常规S面控制器参数易于调整且结构简单的优点，同时还克服了常规S面控制器在水下航行体高速航行时运动控制效果差的缺点。引入李雅普诺夫函数对该控制器的稳定性进行分析，并将该控制器成功应用于水下航行体的运动控制。将改进S面运动控制器与常规S面控制器的试验结果进行对比，结果表明：改进S面运动控制器在水下航行体的运动控制方面具有可行性及有效性。
위연구수하항행체적종향속도대기여자유도운동소산생적영향급기자신소승수적정역학작용，재분석수하항행체운동모형적기출상，제출료일충개진S면운동공제기。해공제기불부보류료상규S면공제기삼수역우조정차결구간단적우점，동시환극복료상규S면공제기재수하항행체고속항행시운동공제효과차적결점。인입리아보낙부함수대해공제기적은정성진행분석，병장해공제기성공응용우수하항행체적운동공제。장개진S면운동공제기여상규S면공제기적시험결과진행대비，결과표명：개진S면운동공제기재수하항행체적운동공제방면구유가행성급유효성。
In order to investigate the impacts produced by the longitudinal velocity on other freedom mo-tions of underwater vehicles(UVs) and to analyze the specific static force encountered,an improved S-plane controller(ISPC)is presented in this paper based on the kinetic model of UVs. This ISPC is easy to calibrate and simple in structure as typical S-plane controllers are,and is able to deal with the difficulty of motion control at high speeds. The stability of this ISPC is first analyzed with Lyapunov function,and then the ISPC is successfully applied to the motion control of UVs. Comparison with the conventional S-plane controller suggests that the ISPC presented here is more feasible and effective for the motion con-trol in UVs.