水下滑翔机建模与纵向运动控制

水下滑翔机是一种浮力驱动的新型水下航行器,其特殊的驱动方式和结构特点增加了建模和控制分析的复杂度。为获得准确有效的水下运动控制方法,通过滑翔机运动学和动力学分析,建立了较为完善的三维空间数学模型,并进行了合理的假设和简化,得到纵平面内小扰动线性化模型。在此基础上,运用了线性二次型最优控制理论设计了LQR调节器,分析系统对于控制指令的跟踪响应情况。最后针对滑翔机的纵平面运动进行了仿真分析,仿真结果显示,LQR调节器有很好的干扰抑制能力和指令跟踪性能,并准确地描述了纵平面内滑翔机的运动特性。

Modeling and Vertical Motion Control of Underwater Glider

The underwater glider is a new type of autonomous underwater vehicle driven by buoyancy force,its special drive mode and structural characteristics increase the complexity of modeling and control analysis.To obtain an accurate and efficient control strategy for underwater motion,we need to build a more complete three-dimensional mathematical model by the analysis of kinematics and dynamics of glider, and make some reasonable assumptions and simplification,then a small disturbance vertical plane linear model can be get.On this basis,a LQR regulator of the system is designed by using the linear quadratic optimal control theory,and the disturbance resistance and the tracking response of the system to the control command signal are also discussed.Finally,the vertical plane motion of glider is simulated.The simulation result shows that the glider using LQR regulator has a better ability of disturbance resistance, and the vertical plane motion characteristics of glider are described accurately.