Modeling and Simulation of Variable Direction Rotatable Axis of Variable Vector Propeller of Submersible Vehicle in Vertical Motion

机译：潜水器垂直运动矢量螺旋桨变向旋转轴的建模与仿真。

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Accurate modeling and simulation of submersible vehicle is essential for autonomous control and maneuverability research. In this paper, a variable direction rotatable axis of variable vector propeller (VDRA-VVP) is proposed and researched innovatively. The structure and working principle of VDRA-VVP of submersible vehicle are described and the nonlinear mathematic model of the submersible vehicle in spatial motion was derived based on momentum theorem. The forces acting on submersible vehicle were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with three degrees of freedom model of vertical motion, a motion simulation system was constructed. Considering the characteristic of VDRA-VVP, the depth control and pitch angle control are simulated by adopting both robust PD control method and adaptive robust PD control method. The comparison result shows that the control effect of adaptive robust PD controller is obviously better than robust PD controller in vertical motion. The simulation results show that the VDRA-VVP of submersible vehicle has good spatial maneuverability, and verify the feasibility and reliability of control method.

机译：潜艇的精确建模和仿真对于自主控制和机动性研究至关重要。提出并研究了可变矢量螺旋桨的可变方向旋转轴（VDRA-VVP）。描述了潜水器VDRA-VVP的结构和工作原理，并基于动量定理推导了潜水器在空间运动中的非线性数学模型。将作用于潜水器上的力分解为几个模块，这些模块以矩阵形式表示。基于运动模型，并结合垂直运动的三个自由度模型，构建了运动仿真系统。考虑到VDRA-VVP的特性，采用鲁棒PD控制方法和自适应鲁棒PD控制方法对深度控制和俯仰角控制进行了仿真。比较结果表明，在垂直运动中，自适应鲁棒PD控制器的控制效果明显优于鲁棒PD控制器。仿真结果表明，潜水器的VDRA-VVP具有良好的空间机动性，验证了控制方法的可行性和可靠性。

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《Proceedings of the 2010 IEEE International Conference on Information and Automation》|2010年|p.1-6|共6页
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Sheng Liu; Dong Ren; Bing Li; Xucheng Chang; Yuchao Wang;
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中图分类自动化技术及设备;
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VDRA-VVP; kinematics model; dynamics model; vertical motion control; simulation;

机译：VDRA-VVP;运动学模型;动力学模型;垂直运动控制;仿真;

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机译：潜水器垂直运动矢量螺旋桨变向旋转轴的建模与仿真。
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Modeling and Simulation of Variable Direction Rotatable Axis of Variable Vector Propeller of Submersible Vehicle in Vertical Motion

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