以某AUV为研究对象，基于六自由度空间运动数学模型，对AUV进行受力分析，应用工程中常用的增量式PID控制方法，形成AUV水下空间运动自动控制仿真计算的数学模型。分别采用空间运动数学模型和平面运动数学模型进行典型空间运动仿真计算。通过对比分析可以看出，当AUV在水下进行空间运动时，其水平面运动与垂直面运动之间的耦合作用不可忽略，该耦合作用将直接影响AUV的操纵律和空间运动的控制律。研究结果可为AUV水下空间运动的自动控制研究、设计和应用等提供参考，具有一定的工程价值。
The mathematical model of single plane motion is no longer applicable. Taking an AUV as the research object, based on the 6-DOF spatial motion mathematical model, the force analysis of AUV is carried out. And the incremental PID control method commonly used in engineering is applied to form the mathematical model of AUV underwater space motion automatic control simulation calculation. The space motion mathematical model and plane motion mathematical model are used to simulate the typical space motion. Trough comparative analysis, it can be seen that when AUV moves in space under water, the coupling effect between horizontal and vertical plane motion cannot be ignored. And this coupling effect will directly affect the control law of AUV and space motion. The research results can provide reference for the research, design and application of AUV automatic control of underwater space motion, and have certain engineering value.
2023,45(12): 57-62 收稿日期：2022-06-02
DOI：10.3404/j.issn.1672-7619.2023.12.011
分类号：U674.941
作者简介：胡中惠(1988-),男,高级工程师,研究方向为潜水器总体设计研究
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