可变翼混合驱动水下滑翔机动力学行为与控制方法研究

项目名称： 可变翼混合驱动水下滑翔机动力学行为与控制方法研究

项目编号： No.51475319

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 王延辉

作者单位： 天津大学

项目金额： 80万元

中文摘要： 水下滑翔机依靠浮力变化进行驱动，是当前海洋监测领域广泛应用的新型水下航行器。但随着其应用深入，速度低、运动形式单一、易受环境干扰等问题也逐渐显露，限制了其进一步发展。加装螺旋桨推进的混合驱动水下滑翔机能够有效弥补以上不足，而机翼可变的设计方式则可充分融合浮力调节和螺旋桨驱动两者的优势。为此，本项目提出可变翼的混合驱动水下滑翔机，在增加尾部螺旋桨推进的同时，将现有滑翔机的固定机翼改为可变机构，通过机构调节，带动滑翔翼变形。本项目通过动力学建模，获得混合驱动滑翔机主要设计参数与动力学性能的关系，并根据具体需求，进行优化设计；同时考虑机翼变形和机体腐蚀等造成的模型和参数不确定性、以及洋流等复杂环境干扰，设计鲁棒控制器，使其能够根据滑翔机的不同运动速度和实际复杂环境，通过变翼调节，与不同运动模式匹配，达到较好的运动性能。研究成果可指导混合驱动水下滑翔机的设计开发过程，为其工程应用奠定基础。

中文关键词： 动力学建模；优化设计；水下机器人；动力学控制

英文摘要： The underwater glider is a new kind of autonomous underwater vehicles (AUVs) which is driven by buoyancy regulating and widely used in the area of ocean monitoring. But the disadvantages such as low speed, simple trajectory patterns, vulnerable to the environmental disturbance are becoming more and more important along with the widely use of it. The further development is also limited by these drawbacks. The propeller driven hybrid underwater glider can make up the deficiency, and the controllable wings design can make both the advantages of buoyancy regulating and propeller driven sufficiently. This proposal presents a propeller driven hybrid underwater glider with controllable wings, and a propeller is added at the aft of the underwater glider, at the same time, controllable wings are designed instead of fixed wings. By controlling the mechanisms, the wings have the ability of shape changing. The relations between the main design parameters and the performances can be derived by dynamic modeling and analysis. And the optimal design can be conducted with the specified performance requirements. The robust controller is also designed considering the uncertainty of the model and parameters caused by wings shape changing and corrosion of the glider itself, as well as the disturbances of ocean currents et al. The controller can regulate the shape of the wings according to the different velocities and the complex environment, thus to have a better motion performances by matching the different moving modes. This research can be the guidance to the development of the hybrid driven underwater gliders, and will provide a theoretical foundation for the application of the underwater gliders.

英文关键词： Dynamics modelling;Optimal design;Autonomous underwater vehicle;Dynamics control