摘要
水下滑翔机是为了满足海洋环境监测和军事侦察的需要,研制出的一种新型无人水下航行器。它将浮标结构与水下机器人技术相结合,不装配推进器,仅依靠自身结构改变驱动浮力,沿锯齿型航迹航行。介绍了一种水下滑翔机原理样机的优化外形、内部调节机构和控制系统的设计,分析了样机的运动原理和实现途径;建立了样机的六自由度空间动力学模型,并通过Matlab对样机的运动运行参数和控制算法进行仿真,验证了所设计运行参数的优越性。
In order to meet the needs of marine environmental monitoring and military reconnaissance,a new type of unmanned underwater vehicle,underwater glider,is developed.It combines the buoy structure and underwater robot technology,without assembling the plug-propeller,just relies on changing its own driving buoyancy and navigates along the zigzag track.This paper presents a prototype underwater glider body shape optimization,internal adjusting mechanism and control system design and analyses the motion principle and approaching way of the prototype.A 6-DOF motion mode of the Autonomous underwater glider is established.The simulations for the motion parameters and control algorithms of the prototype by MATLAB verify the superiority of the operating parameters.
出处
《国外电子测量技术》
2011年第11期74-78,共5页
Foreign Electronic Measurement Technology
关键词
水下滑翔机
原理样机
调节机构
控制
仿真
underwater glider
model
modulatory stucture
control
simulation
