滑翔式水下航行器的运动建模与分析

摘要

The underwater gliding vehicle is a kind of new autonomous underwater robot, which is based on the principle of gliding without plugin propulsion system, and relies on the built-in actuators to adjust the center of gravity and net buoyancy to control its motion. By the net buoyancy forced on the lifting wing, it gets a forward power when there is an attack angle. The underwater vehicle moves on forward along the jagged path in the setted depth. This paper analyses the gliding underwater vehicle motion, builds the gliding motion mathematical model, and calculates the relationship between the movement parameters and the variables. It also uses MATLAB/SIMULINK to make the underwater vehicle movement model and runs the simulation.%滑翔式水下航行器是一种基于滑翔原理的无外挂推进系统、仅依靠内置执行机构调整重心位置和净浮力来控制其自身运动状态的新型水下自治机器人.它在净浮力的作用下,利用水平翼在有攻角情况下产生的前进动力,在设定的深度范围内进行锯齿形前进.对滑翔式水下航行器进行运动机理分析,建立滑翔式水下航行器运动数学模型,并对滑翔式水下航行器定常运动状态下的运动参数与可控变量的关系进行仿真,利用MATLAB/SIMULINK建立滑翔式水下航行器模型对其运动进行仿真.