针对自主水下机器人（Autonomous Underwater Vehicle，AUV）复杂系统传统多领域建模方法中存在的领域耦合机制薄弱、建模效率低下等问题，本文基于多领域统一建模理论开展AUV数字样机建模方法研究。研究以Modelica语言为建模工具，详细分析了AUV关键设备的建模原理，并通过模块化设计实现系统级集成。研究以“探索-100”为实物对象进行建模方法验证，得到航速、航向和深度平均绝对误差分别为0.0189 m/s、0.0091 rad和0.0240 m。研究结果验证了多领域系统级仿真的有效性，为AUV的数字化设计、控制策略优化及健康管理研究提供了技术实现路径。
To address issues such as weak domain coupling mechanisms and low modeling efficiency in traditional multi-domain modeling methods for complex systems of autonomous underwater vehicles (AUV), this paper conducts research on AUV digital prototype modeling methods based on the multi-domain unified modeling theory. The research employs the Modelica language as the modeling tool, conducts a detailed analysis of the modeling principles of AUV key equipment, and achieves system-level integration through modular design. The research takes "TanSuo-100" as the physical object to verify the modeling method, and the obtained mean absolute errors of speed, heading, and depth are 0.0189 m/s, 0.0091 rad and 0.0240 m, respectively. The research results verify the effectiveness of multi-domain system-level simulation and provide a technical implementation path for AUV's digital design, control strategy optimization and health management research.
2026,48(6): 45-53 收稿日期：2025-7-24
DOI：10.3404/j.issn.1672-7649.2026.06.007
分类号：U674.76
基金项目：机器人与智能系统全国重点实验室资助项目（2023-Z26）
作者简介：王铃渝(2001-),男,硕士研究生,研究方向为多领域系统建模与仿真
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