水下航行器低速运动时舵效低，主要通过注、排水来改变质量等惯性参数实现一定范围内的运动姿态调节。为了分析低速水下航行器运动姿态惯性调节策略的可行性，模拟水下低速航行器与其惯性调节系统的耦合动力学特性，本文基于AMESim和Simulink建立了水下航行器的联合仿真模型，实现了水下航行器惯性调节系统的参数化快速建模和工况仿真。以某小型水下航行器为例，通过双环PID控制惯性调节系统，改变航行器的运动姿态，使其在受到海浪等干扰后快速恢复到初始深度，验证了系统的有效性。
The rudder effect decreases dramatically when underwater vehicles move slowly. So inertial parameters changing method is used to adjust the movement attitudes, including injecting water or drainage for mass changing. A method based on AMESim and Simulink is used to model underwater vehicle’s inertial system for its fast modeling and simulation. This method is used to validate the feasibility of inertial changing method and the coupling dynamic characteristics between the vehicle and the inertial changing system. Taking a small vehicle as an example, a double-circle PID control method is demonstrated to maintain its depth with ocean wave and other disturbs.
2021,43(7): 49-53 收稿日期：2021-04-08
DOI：10.3404/j.issn.1672-7649.2021.07.010
分类号：U675.9;TP391.9
作者简介：唐熊辉(1982-),男,工程师,主要从事船舶系统研究
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