中国舰船研究2025，Vol.20Issue(1)：340-349,10.DOI:10.19693/j.issn.1673-3185.04186
AUV近水面波浪跟随控制及环境参数分析
Near-surface motion modeling and wave-following control of AUVs
摘要
Abstract
[Objective]To address the covert communication requirements of autonomous underwater vehicles(AUVs),this study proposes a near-surface communication mode equipped with a foldable antenna.[Methods]Utilizing strip theory to predict the wave forces of regular waves,a five-degree-of-freedom mo-tion equation for the AUV near the water surface is established.Simulation studies on wave-following control of the AUV are conducted using the line-of-sight(LOS)method and PID controllers.[Results]Simulation results demonstrate that the normal tracking stability accuracy of the spatial trajectory is 0.247 6 m,and the vertical tracking stability precision of wave-following motion is 0.232 6 m,indicating satisfactory control per-formance.Statistical analysis reveals that wave height and frequency significantly impact control effective-ness;larger wave height and frequency result in poorer control outcomes.[Conclusion]This study valid-ates the feasibility of wave-following motion for AUVs near the water surface,providing theoretical support for high-covert real-time communication applications.关键词
自主水下航行器/波浪干扰力/波浪跟随控制/视线法/PID控制Key words
autonomous underwater vehicles/wave force/wave following control/line of sight(LOS)/PID control分类
交通工程引用本文复制引用
王一,汪旋,王检耀,李相衡..AUV近水面波浪跟随控制及环境参数分析[J].中国舰船研究,2025,20(1):340-349,10.基金项目
国家自然科学基金资助项目(12202265) （12202265）
