实验尺度无人水下滑翔机设计与试验

发布时间：2018-06-26 07:31

本文选题：水下滑翔机 + 水动力参数　；参考：《中国舰船研究》2016年01期

【摘要】：无人水下滑翔机是一种高效的水下机器人。实尺度滑翔机在一般水池内很难形成稳态的滑翔运动,不便于研究分析其动力学问题,因此设计一种实验尺度的水下滑翔机,详述滑翔机的设计、建模、控制与试验研究。首先,简述实验尺度滑翔机结构,利用CFD软件计算壳体的水动力参数。然后,根据机体的内部质量分布,建立滑翔机的动力学模型。最后,设计垂直剖面运动的线性二次型调节器(LQR)控制器与线性Kalman观测器,并在观察环节加入一定量的白噪声干扰。仿真结果表明,设计的控制器与观测器可在一定量干扰存在的情况下保证机体的正常运行。水池试验的结果表明,设计的滑翔机可在3 m水深范围完成稳态滑翔运动,并具有良好的稳定性及操纵性。
[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.
【作者单位】：中国舰船研究设计中心;上海交通大学海洋工程国家重点实验室;
【分类号】：U674.941

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