【摘要】 水下自航行器动力学建模是其控制研究的基础,为此基于Newton Euler法建立了水下自航行器的一般动力学模型,其模型具有复杂非线性特征.利用解耦和摄动理论对模型进行了合理简化,将控制系统分解为弱耦合的子系统.基于简化模型设计了航速、航向、纵倾和深度控制器,仿真结果证明了自航行控制的鲁棒性和稳定性.更多还原

【Abstract】 The dynamics modeling of autonomous underwater vehicle is fundamental to the research of its control.Based on Newton-Euler’s equations, the derivation of a general dynamics model for an autonomous underwater vehicle was studied,and the model was complicately nonlinear.By using decoupling and method of perturbation,the model was reasonably simplified.The system was separated into lightly interacting subsystems,and four autopilot controllers based on proportional integrating differential techniques were designed for forward speed,steering,pitch and depth control. Simulation results showed robust performance and stability of the autopilot.更多还原