龐永杰 王建

摘 要：300 kg級(jí)AUV在經(jīng)歷2014年上半年的全面改造后。為了檢驗(yàn)系統(tǒng)的性能，可靠性，在山東威海進(jìn)行了為期2個(gè)月的海試。根據(jù)AUV在海試過程中的表現(xiàn)和對(duì)試驗(yàn)數(shù)據(jù)統(tǒng)計(jì)分析，表明該AUV在艏向控制、垂向控制、和梳狀搜索等方面均有很大的改進(jìn)和提高。其中，艏向控制精度在60個(gè)控制節(jié)拍內(nèi)的平均艏向角偏差為0.284°；垂向控制精度在60個(gè)控制節(jié)拍內(nèi)的平均垂向控制偏差0.127 m；AUV最大航速5節(jié)，且3節(jié)巡航速度時(shí)的續(xù)航能力為200 km；AUV在執(zhí)行梳狀搜索任務(wù)時(shí)，其實(shí)際航行軌跡與規(guī)劃路線吻合較好，具有較強(qiáng)的海底規(guī)劃搜索能力。

關(guān)鍵詞：潛水器 S面控制 海試

Abstract：A two months sea trial for 300kg AUV was conducted in Weihai Shandong province to test its performance and reliability. Trial data and performance indicates that abilities of this AUV on heading control， vertical control and comb-like scanning are now much improved. average heading angle offset and vertical control offset after 60 control beat are 0.284o and 0.127m respectively. the maximum speed is 5kn， and the endurance range is 200km at cruising speed 3kn. actual sail route fits well planned route when doing comb-like scanning， that proves its brilliant subsea plan search capability.

Key Words：AUV；S-plane Control；Sea Trail

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