摘要
针对自主式水下潜器(AUV)发射体发射操纵运动复杂、实时控制难的问题,基于层次分析法(AHP)评价水动力系数敏感性简化建立AUV发射体发射恢复运动控制模型,计算了典型的水平面定常回转与垂直面梯形操纵运动下5个运动响应参数:定常回转直径、战术回转直径、超越深度、超越纵倾角和发射恢复时间。简化前后的仿真对比试验表明,所选取的五个运动响应参数简化前后对比最大误差为6.25%,最小误差仅为0.2%,仿真效率提升21.561%,认为该简化模型正确、有效,可用于提高发射体发射后AUV操纵的实时性。
In order to solve the problems of complex launch control motion and difficult real-time control of autonomous underwater vehicle(AUV)launcher,a simplified launch recovery motion control model of AUV launcher was established based on analytic hierarchy process(AHP)to evaluate the sensitivity of hydrodynamic coefficient,and five motion response parameters under typical horizontal plane steady rotation and vertical plane trapezoidal control motion were calculated:steady rotation diameter, tactical rotation diameter,overrun depth,overrun trim angle and launch recovery time.The simulation comparison tests before and after simplification show that the maximum error and minimum error of the selected five motion response parameters before and after simplification are 6.25% and 0.2%respectively,and the simulation efficiency is improved by 21.561%.It is believed that the simplified model is correct and effective,which can be used to improve the real-time performance of AUV control after launch.
作者
张焕清
石英
牟军敏
谢凌云
罗佳齐
ZHANG Huanqing;SHI Ying;MOU Junmin;XIE Lingyun;LUO Jiaqi(School of Automation,Wuhan University of Technology,Wuhan 430070,China;School of Navigation,Wuhan University of Technology,Wuhan 430070,China;Key Laboratory of Inland Navigation Technology of Hubei Province,Wuhan 430070,China)
出处
《武汉理工大学学报（交通科学与工程版）》
2019年第2期269-275,共7页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
国家自然科学基金项目资助(51579201)
