摘要
由于航速较低,舵效较差,使得低速潜器操纵控制比较困难,通常ROV(无人遥控潜水器)为了实现高性能的矢量推进需要配置数量较多的推进器,通过引入倾转螺旋桨可以减少总的推进器数量,利用Simulink软件建立了倾转桨潜器水下运动仿真模型并进行了操纵控制仿真研究,仿真结果显示了倾转螺旋桨优秀的矢量推进性能。
Low speed submarine is hard to handle because its low speed and bad steer a- bility. Normally the ROV needs to equip more propellers to achieve the high performance of vectored propulsion, the number of propellers can be reduced by using tilt rotor. This article builds an underwater motion simulation model of tilt rotor based on Simulink software and studies its manipulation simulation, the result shows that the tilt rotor has a good perform- ance of vectored propulsion.
基金
国家自然科学青年基金项目(编号:51309125)
关键词
ROV
倾转桨
矢量推进
操纵仿真
ROV Tilt rotor Vectored propulsion Manipulation simulation
