鱼雷技术2012，Vol.20Issue(1)：42-46,5.
基于BTT控制的无人水下航行器动力学模型
Dynamic Model of Unmanned Underwater Vehicle Based on BTT Control
张翼超 1周徐昌 1沈建森 1石汉成2
作者信息
- 1. 海军工程大学兵器工程系 湖北武汉 430033
- 2. 海军蚌埠士官学校兵器系 安徽蚌埠 233012
- 折叠
摘要
Abstract
The stability of traditional unmanned underwater vehicle (UUV) is deteriorated because of the induced rolling moment generated by skid and the cross-coupling among three autopilot channels in high-speed maneuver, so a bank-to-turn (BTT) control method is proposed to improve UUV maneuverability. Appropriate simplification of the spacial dynamic model of UUV is made according to the characters of the UUV navigation dynamic model and BTT control, hence a BTT control-based UUV dynamic model is obtained. Moreover, the normal overload are taken as state variables, which can be measured easily, in order to simplify the design of the autopilot. The proposed model may be suitable for the design of the UUV control system based on BTT control technology.关键词
无人水下航行器/倾斜转弯/动力学模型Key words
unmanned underwater vehicle (UUV)/ bank-to-turn (BTT)/ dynamic model分类
军事科技引用本文复制引用
张翼超,周徐昌,沈建森,石汉成..基于BTT控制的无人水下航行器动力学模型[J].鱼雷技术,2012,20(1):42-46,5.
