| 基于控制力矩陀螺的水下运载器动力学与仿真 |
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| 引用本文： | 连仑,吴忠.基于控制力矩陀螺的水下运载器动力学与仿真[J].北京航空航天大学学报,2010,36(9):1108-1112. |
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| 作者姓名： | 连仑 吴忠 |
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| 作者单位： | 北京航空航天大学,仪器科学与光电工程学院,北京,100191;北京航空航天大学,仪器科学与光电工程学院,北京,100191 |
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| 基金项目： | 北京市优秀人才培养资助项目，国家863计划资助项目 |
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| 摘 要： | 为弥补水下运载器(AUV,Autonomous Underwater Vehicle)中传统舵面控制机构的低速控制的不足,改善其操纵性能,引入单框架控制力矩陀螺(SGCMG,Single Gimbal Control Moment Gyro)作为控制机构进行姿态稳定与控制.把AUV简化为刚体,加入SGCMG,考虑水下环境的特点,建立基于SGCMG的AUV动力学模型,并仿真分析AUV的动力学、姿态运动、SGCMG的框架运动以及环境之间的相互作用.仿真结果说明:基于SGCMG控制的AUV的姿态机动快速、准确,低速性能理想,为操纵律设计及姿态控制算法研究提供基础.
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| 关 键 词： | 水下运载器 控制力矩陀螺 动力学 仿真 |
| 收稿时间： | 2009-07-06 |
Dynamics and simulation of autonomous underwater vehicle based on control moment gyros |
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| Lian Lun,Wu Zhong.Dynamics and simulation of autonomous underwater vehicle based on control moment gyros[J].Journal of Beijing University of Aeronautics and Astronautics,2010,36(9):1108-1112. |
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| Authors: | Lian Lun Wu Zhong |
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| Institution: | School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | To improve autonomous underwater vehicle(AUV)-s low velocity control performance, a control moment gyro (CMG) was introduced as the attitude control system. Taking the fluid dynamics into account, the dynamic model of AUV was built based on CMG, and a simulation and analysis on AUV-s kinematics and attitude control also was made. The results show that AUV based on CMG has high efficient maneuverability and ideal low velocity control performance. Accordingly, AUV-s kinematics and attitude control can be realized. But the SGCMG steering law used doesn-t consider the singularity avoidance. Designing high performance steering law is the farther problem. It provides foundation for the design of steering law and attitude control. |
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| Keywords: | autonomous underwater vehicle control moment gyro dynamics simulation |
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