CAJ | 학술논문

高空空投AUV(Autonomous Underwater Vehicle,自主水下航行器)是一种基于“高空反潜武器概念”而设计的基高空滑翔与水下自主航行于一体的新型水下航行器,对其全弹道的仿真是其概念设计阶段的重要内容和理论基础.根据高空空投AUV弹道各稳态阶段的运动与环境特点,分别搭建了滑翔、减速与水下阶段六/九自由度仿真模型.仿真了空投AUV在翼面组件升力作用下的自由滑翔弹道和在圆形降落组件作用下的减速弹道.设计了AUV水下偏航与深度控制器,并进行了水下闭环控制仿真,验证了AUV深度与偏航控制下沿指定轨迹航行.仿真结果表明,仿真系统能准确快速地仿真出AUV各运动阶段的弹道、位姿、速度与加速度信息,适用于全弹道组件设计、特性分析与控制器设计与验证.
고공공투AUV(Autonomous Underwater Vehicle,자주수하항행기)시일충기우“고공반잠무기개념”이설계적기고공활상여수하자주항행우일체적신형수하항행기,대기전탄도적방진시기개념설계계단적중요내용화이론기출.근거고공공투AUV탄도각은태계단적운동여배경특점,분별탑건료활상、감속여수하계단륙/구자유도방진모형.방진료공투AUV재익면조건승력작용하적자유활상탄도화재원형강락조건작용하적감속탄도.설계료AUV수하편항여심도공제기,병진행료수하폐배공제방진,험증료AUV심도여편항공제하연지정궤적항행.방진결과표명,방진계통능준학쾌속지방진출AUV각운동계단적탄도、위자、속도여가속도신식,괄용우전탄도조건설계、특성분석여공제기설계여험증.
High altitude Air-Launched AUV(AL-AUV)is a new kind of underwater vehicle that integrates high gliding and underwater, and designed on High Altitude ASW Weapons Conception(HAAWC). The simulation of the complete trajectory of AL-AUV is an important part and theoretical basic for conceptual design. The 6(or 9)DOF(Degree Of Freedom)simulation models of gliding, decelerating and underwater stages are established based on the movement and environment characteristics of high altitude AL-AUV trajectory’s steady stages. The AL-AUV’s free gliding trajectory and decelerating trajectory are simulated respectively with the effort of wing unit and circle parachute. The AUV underwater stage yaw and depth controllers are designed and system closed loop control simulation is completed which validates the AUV moving along the specified path under control. The simulations indicate that the simulation system applicable to AL-AUV complete trajectory unit design, characteristics analysis and controller design.