CAJ | 학술논문

水下滑翔机作为一种新型的水下机器人利用了水平固定翼将净重力转换为前进驱动力，从而降低了水下机器人的功耗，在海洋科学研究、环境监测、资源探测和军事侦察等方面都具有广阔的应用前景。为了得到实际水下滑翔机稳定性与设计参数和控制参数之间的关系，将已建立的水下滑翔机一般数学模型应用于具体的实际水下滑翔机上。在此基础上将模型线性化，结合李雅普诺夫稳定性第一定理和第二定理，分析出水下滑翔机定常运动的动态稳定性随设计参数（初稳性高）和控制参数（姿态调节控制量）变化的规律。为水下滑翔机器人的设计和控制提供理论依据。
수하활상궤작위일충신형적수하궤기인이용료수평고정익장정중력전환위전진구동력，종이강저료수하궤기인적공모，재해양과학연구、배경감측、자원탐측화군사정찰등방면도구유엄활적응용전경。위료득도실제수하활상궤은정성여설계삼수화공제삼수지간적관계，장이건립적수하활상궤일반수학모형응용우구체적실제수하활상궤상。재차기출상장모형선성화，결합리아보낙부은정성제일정리화제이정리，분석출수하활상궤정상운동적동태은정성수설계삼수（초은성고）화공제삼수（자태조절공제량）변화적규률。위수하활상궤기인적설계화공제제공이론의거。
As a novel underwater robot, the underwater glider converts net gravity to driving force forward with the horizontal fixed?wing, thereby reducing the power consumption of the underwater robot. The underwater glider has broad application prospects in marine scientific research, environmental monitoring, resource exploration and mili?tary reconnaissance, etc. In order to ascertain the relationship between design parameters, control parameters and stability of actual underwater gliders, the general mathematical model that had been established was applied to a specific underwater glider in practice and then linearized. Stability was judged by Lyapunov first and second theo?rems. The law in which stability varies with design parameters ( initial metacentric height) and control parameters ( attitude adjustment parameters) was obtained, providing a theoretical basis for design and control of underwater gliders.