现代电子技术2025，Vol.48Issue(20)：25-29,5.DOI:10.16652/j.issn.1004-373x.2025.20.004
多模态水下航行器变体积建模方法研究
Method of variable-volume modeling for multi-modal underwater vehicle
摘要
Abstract
The existing constant-volume dynamic model cannot accurately express the dynamic characteristics of multi-modal underwater vehicles.On this basis,considering the control needs of modal switching and the volume change of the buoyancy drive system,a variable-volume multi-mass point variable position vector model is established based on the coordinate transformation method.On the basis of modeling,the comparative experiments were carried out,and the differences between the pitch angles expressed by different models in the mode switching action scene were analyzed.The results show that the variable-volume multi-mass point variable position vector model can describe the pitch angle more accurately,which can better meet the control needs of model switching in complex environments,and has practical significance for the motion simulation and controller design of similar vehicles.关键词
多模态水下航行器/变体积模型/模态切换/俯仰角控制/位置矢量/坐标变换Key words
multi-modal underwater vehicle/variable-volume model/modal switching/pitch angle control/position vector/coordinate transformation分类
信息技术与安全科学引用本文复制引用
宋大雷,王浩男,吕继康,周丽芹,贺同福,莫少雄,霍典..多模态水下航行器变体积建模方法研究[J].现代电子技术,2025,48(20):25-29,5.基金项目
国家自然科学基金项目(52301390) （52301390）
山东省自然科学基金项目(ZR2022QE072) （ZR2022QE072）
青岛市博士后应用研究项目 （）
中央高校基本科研业务费专项资金(202213029) （202213029）
