哈尔滨工程大学学报2017，Vol.38Issue(1)：133-139,152,8.DOI:10.11990/jheu.201509089
无鳍舵矢量推进水下机器人纵向稳定性研究
Longitudinal handling stability of vectored thrust underwater vehicle without fin and rudder
摘要
Abstract
A single-mechanism vectored thrust approach without fin and rudder was proposed to improve the maneu-verability of an underwater vehicle running at low speed. A new vectored thruster based on spherical parallel mecha-nism was applied to an underwater vehicle, and a six degrees-of-freedom kinematic model in the form of spinor was established. With the two-dimensional rotation angle of the thrust vectoring as the target, the vector thrust was de-composed, and the three-dimensional scaling factor was derived. A dynamic model of the vectored thruster was es-tablished on the basis of Newton-Euler method. In addition, with the scaling factor of thrust vectoring as an input, Laplace transformation was employed to establish the disturbance model along the vertical direction in a complex do-main, and the dimensionless stability margin of vectored thrust based on the disturbance model was proposed. Nu-merical simulations were performed to verify the effectiveness and stability of the vectored thrust mode without fin and rudder.关键词
水下机器人/矢量推进/并联机构/动力学/扰动模型/操纵稳定性Key words
underwater vehicle/vectored thrust/parallel mechanism/dynamics/disturbance model/handling stability分类
交通工程引用本文复制引用
张荣敏,陈原,高军..无鳍舵矢量推进水下机器人纵向稳定性研究[J].哈尔滨工程大学学报,2017,38(1):133-139,152,8.基金项目
国家自然科学基金项目（51375264）；山东省科技重大专项（2015JMRH0218）；山东省优秀中青年奖励基金项目（BS2013ZZ008）；中国博士后特别资助项目（2014T70632）． （）
