發(fā)布時(shí)間：2018-06-26 07:31

  本文選題：水下滑翔機(jī) + 水動(dòng)力參數(shù)　； 參考：《中國(guó)艦船研究》2016年01期

【摘要】：無人水下滑翔機(jī)是一種高效的水下機(jī)器人。實(shí)尺度滑翔機(jī)在一般水池內(nèi)很難形成穩(wěn)態(tài)的滑翔運(yùn)動(dòng),不便于研究分析其動(dòng)力學(xué)問題,因此設(shè)計(jì)一種實(shí)驗(yàn)尺度的水下滑翔機(jī),詳述滑翔機(jī)的設(shè)計(jì)、建模、控制與試驗(yàn)研究。首先,簡(jiǎn)述實(shí)驗(yàn)尺度滑翔機(jī)結(jié)構(gòu),利用CFD軟件計(jì)算殼體的水動(dòng)力參數(shù)。然后,根據(jù)機(jī)體的內(nèi)部質(zhì)量分布,建立滑翔機(jī)的動(dòng)力學(xué)模型。最后,設(shè)計(jì)垂直剖面運(yùn)動(dòng)的線性二次型調(diào)節(jié)器(LQR)控制器與線性Kalman觀測(cè)器,并在觀察環(huán)節(jié)加入一定量的白噪聲干擾。仿真結(jié)果表明,設(shè)計(jì)的控制器與觀測(cè)器可在一定量干擾存在的情況下保證機(jī)體的正常運(yùn)行。水池試驗(yàn)的結(jié)果表明,設(shè)計(jì)的滑翔機(jī)可在3 m水深范圍完成穩(wěn)態(tài)滑翔運(yùn)動(dòng),并具有良好的穩(wěn)定性及操縱性。
[Abstract]:Unmanned underwater glider is an efficient underwater vehicle. It is difficult for a real glider to form steady gliding motion in a general pool, so it is not convenient to study and analyze its dynamics. Therefore, an experimental scale underwater glider is designed, the design, modeling, control and experimental study of glider are described in detail. Firstly, the structure of the experimental glider is briefly described, and the hydrodynamic parameters of the shell are calculated by CFD software. Then, according to the internal mass distribution of the body, the dynamic model of the glider is established. Finally, a linear quadratic regulator (LQR) controller and a linear Kalman observer for vertical profile motion are designed, and a certain amount of white noise disturbance is added to the observation link. The simulation results show that the designed controller and observer can guarantee the normal operation of the airframe in the presence of a certain amount of disturbance. The results of tank test show that the glider can achieve steady gliding movement in a water depth of 3 m and has good stability and maneuverability.
【作者單位】： 中國(guó)艦船研究設(shè)計(jì)中心;上海交通大學(xué)海洋工程國(guó)家重點(diǎn)實(shí)驗(yàn)室;
【分類號(hào)】：U674.941

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本文編號(hào)：2069670