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引用次数: 0
摘要
MT-3500自主无人水下航行器(AUV)是在IMTP FEB RAS为参与2022年的AMK-87综合考察而在南极进行的深海研究而创建的。AUV的功能允许它也用于解决其他科学和应用问题。水下航行器的动力特性决定了其在观测海域进行声纳、地球物理和水文测量的有效性。在模型和实验数据的基础上，对水下航行器的动态特性进行了研究，并对数据进行了比较，以完善水动力模型参数，优化算法和控制参数。控制是借助推进转向复合体进行的，其测量结果是通过对推进器推进特性的详细水池和试验场测量得到的。为了分析所建立的仿真模型的动态过程，利用了工作中的实验数据。
Comparative Analysis of Model and Experimental Characteristics of the MT-3500 AUV Dynamics
The MT-3500 autonomous uninhabited underwater vehicle (AUV) was created at IMTP FEB RAS for deep-sea research in the Antarctic in connection with participation in the AMK-87 complex expedition in 2022. The functionality of the AUV allows it to be used also for solving other scientific and applied problems. The dynamic characteristics of the AUV determine the degree of its effectiveness in performing sonar, geophysical and hydrographic measurements in the observed marine areas. The dynamic characteristics of the AUV are studied on the basis of model and experimental data, the data are compared to refine the parameters of the hydrodynamic model and to optimize the algorithms and control parameters. The control is carried out with the help of a propulsion-steering complex, the measurements of which are obtained as a result of detailed pool and test site measurements with the propulsion characteristics of the propulsors. To analyze the dynamic processes of the developed simulation model, the experimental data of the work are used.
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