多模态水下航行器变体积建模方法研究

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中图分类号：TN743-34；TP29 文献标识码：A 文章编号：1004-373X（2025）20-0025-05

Abstract：Theexistingconstant-volume dynamic model cannot accurately express thedynamiccharacteristicsof multimodalunderwatervehicles.Onthisbasis，consideringthecontrolneedsofmodalswitchingandthevolumechangeof the buoyancydrivesystem，avariable-volumemulti-mass pointvariablepositionvectormodelisestablishedbasedonthecoordinate transformationmethod.Onthebasisofmodeling，thecomparativeexperimentswerecariedout，andthediferencesbetweenthe pitchanglesexpressdbydiferentmodelsinthemodeswitchingactionscenewereanalyzed.Theresultsshowthatthevariablevolumemulti-masspointvariablepositionvectormodelcandescribethepitchanglemoreacurately，whichcanbeermtthe controlneedsofmodelswitching incomplexenvironments，andhaspracticalsignificanceforthemotionsimulationandcontroller designof similarvehicles.

Keywords：multi-modal underwater vehicle;variable-volume model；modalswitching;pitchanglecontrol;positionvector; coordinate transformation

海洋环境实时观测是“透明海洋"计划的重要内容。（剩余6728字）