基于MATLAB的自主水下航行器经典控制算法仿真分析

Simulation Analysis of Classical Control Algorithm of AUV Based on MATLAB

摘要:

针对自主水下航行器在水下航行中的姿态控制问题，采用经典控制律的数学模型，依据总体参数和流体动力参数，代入到下航行器纵向运动微分方程组中，通过 MATLAB 自编程序运用龙格库塔法求解此微分方程组，并将经典控制方程(算法)引入到微分方程组的求解当中，其仿真分析结果验证和支持了自主水下航行器的湖上试验，为某自主水下航行器项目实航演示样机的研制提供理论支持，具有一定的工程参考价值。

关键词:自主水下航行器;经典控制算法;纵向弹道;MATLAB 仿真

Abstract:

Aiming at the attitude control problem of AUV(autonomous underwater vehicle)in underwater navigation，the mathematical model of classical control law is adopted. According to the overall parameters and hydrodynamic parameters，it is substituted into the differential equations of vehicle body longitudinal motion. The Runge Kutta method is used to solve the differential equations through MATLAB self-programming software，and the classical control equation(algorithm)is introduced into the solution of the differential equations. The simulation results verify and support the lake test of AUV and provide theoretical support for the development of an AUV project demonstration prototype，which has a certain engineering reference value.

Key words:AUV;classical control algorithm;longitudinal trajectory;MATLAB simulation