Inverse speed analysis and low speed control of underwater vehicle
Inverse speed analysis and low speed control of underwater vehicle
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DOI：
10.1007/s11771-014-2226-7
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发表时间：
2014-07
影响因子：
4.4
通讯作者：
Ye Li;Yanqing Jiang;Shan Ma;Pengyun Chen;Yi-ming Li
中科院分区：
文献类型：
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作者：
Ye Li;Yanqing Jiang;Shan Ma;Pengyun Chen;Yi-ming Li
反向速度是一个可逆的机动。这是水下航行器在低速时的一个特点。在低于反向速度的速度下的垂直平面中的操纵性不同于在较高速度下的操纵性。在水下观测作业过程中，AUV的巡航速度往往较低。因此，逆航速的研究对水下机器人的操纵性具有重要意义。分析了速度反转的机理，推导了定常俯仰运动方程。推导了垂直面内轨迹角的参数表达式。进而得到了逆转速的计算公式。分析了平板体与回转体的典型速度反转现象。得出结论：对于一种特殊的平面体水下机器人，其逆速度低于回转体水下机器人的逆速度。在完成了所有的计算和分析之后，在仿真程序中、水池中和海上试验中进行了一系列的专门的反航速试验。
Inverse speed is a reversible maneuver. It is a characteristic of underwater vehicle at low speed. Maneuverability in the vertical plane at a speed lower than inverse speed is different from one at higher speed. In the process of underwater working for observation, AUV’s cruise speed is always low. Therefore, the research on inverse speed is important to AUV’s maneuverability. The mechanism of inverse speed was analyzed, and then the steady pitching equation was derived. The parameter expression of track angle in vertical plane was deduced. Furthermore, the formula to calculate the inverse speed was obtained. The typical inverse speed phenomenon of the flat body and the revolving body was analyzed. Then the conclusion depicts that, for a particular AUV with flat body, its inverse speed is lower than that of revolving body. After all the calculation and the analysis, a series of special experiments of inverse speed were carried out in the simulation program, in the tank and in the sea trial.