重力驱动水下滑翔机调控系统设计与仿真

水下滑翔机是一种依靠重浮力驱动的自主无人水下航行器。为了研究水下滑翔机运动参数与控制变量的关系,首先对重力驱动式水下滑翔机进行了总体分析,设计了重浮力调节机构和重心调节机构。为了获得水下滑翔机调控系统的具体调节参数,对重浮力调节装置安装在艏部的水下滑翔机进行了受力分析,根据Newton-Euler方法建立了水下滑翔机的运动学方程,利用Matlab软件进行仿真计算,得出了定常运动状态下攻角、俯仰角和速度随着重物块移动距离增大或净浮力质量增加而单调递增,净浮力质量一定时,水平速度存在极值。最后,基于能获得最大水平速度考虑,确定了重心调节装置和重浮力调节装置的参数。

Simulation and Design of Adjustment System for Gravity Driven Underwater Gliders

To study the relationship between the motion parameters and control variables of the underwater glider,overall analysis of the weight-driven underwater glider is conducted,and gravity buoyancy adjustment mechanism and gravity center adjustment mechanism are designed.Mechanical analysis of the underwater glider with a gravity adjust-ment device installed in its bow is also conducted to get the parameters of the underwater glider＇s control system.Ki-nematic equations are derived on the basis of Newton-Euler method,and simulation via the software Matlab is per-formed.The results show that the glider＇s pitch angle,attack angle and velocity increase with the increasing mass mov-ing distance or net buoyancy,there is an extreme value of horizontal velocity when net buoyancy is fixed.Finally,the parameters of gravity adjustment mechanism and gravity buoyancy adjustment mechanism are determined for achieving maximum horizontal velocity.