CAJ | 학술논문

以舵作为水下航行体运动姿态控制装置时，其控制能力容易受到航速限制。本文考虑采用控制力矩陀螺（CMG）进行水下航行体的姿态控制，从而避免水下航行体在零速或低速时舵效丧失而导致机动能力下降。考虑到水下航行体可能大姿态角度机动，引入欧拉四元素建立其运动学方程；将水下航行体看作刚体，考虑陀螺装置的力矩效应及水动力的影响，运用动量和动量矩定理，针对安装有控制力矩陀螺的水下航行体建立了新的动力学模型方程。对建立的模型进行了仿真，结果表明：陀螺装置所产生的力矩对水下航行体的运动姿态角参数产生了显著的影响，这为CMG在水下航行体运动控制上的应用提供了有效基础。
이타작위수하항행체운동자태공제장치시，기공제능력용역수도항속한제。본문고필채용공제력구타라（CMG）진행수하항행체적자태공제，종이피면수하항행체재령속혹저속시타효상실이도치궤동능력하강。고필도수하항행체가능대자태각도궤동，인입구랍사원소건립기운동학방정；장수하항행체간작강체，고필타라장치적력구효응급수동력적영향，운용동량화동량구정리，침대안장유공제력구타라적수하항행체건립료신적동역학모형방정。대건립적모형진행료방진，결과표명：타라장치소산생적력구대수하항행체적운동자태각삼수산생료현저적영향，저위CMG재수하항행체운동공제상적응용제공료유효기출。
Rudder is usually used as an attitude control device for underwater crafts, though its control ability was commonly limited by the speed of crafts, and it may loss effectiveness when craft is at rest or running at low speed. To overcome the disadvantages, the control moment gyroscopic (CMG) is applied to controlling attitude of underwater craft in this paper. As underwater craft may have a large attitude angle, Euler’s four-parameter is adopted to build kinematics equation. Underwater craft is treated as a rigid, and then a dynamic model of underwater craft is built with moment and momentum theorem, where fluid dynamic forces are considered. The results show that gyroscopic effect has a significant effect on underwater craft, which shows a good prospect of applying CMG in attitude control of underwater craft.