[1]刘 曜,朱 珠.自主水下航行器回旋运动总体参数敏感性分析[J].弹道学报,2019,(03):73-78.[doi:10.12115/j.issn.1004-499X(2019)03-014]
 LIU Yao,ZHU Zhu.Sensitivity Analysis of General Parameters for TurningPerformance of Autonomous Underwater Vehicle[J].Journal Of Ballistics,2019,(03):73-78.[doi:10.12115/j.issn.1004-499X(2019)03-014]
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自主水下航行器回旋运动总体参数敏感性分析()
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《弹道学报》[ISSN:1004-499X/CN:32-1343/TJ]

卷:
期数:
2019年03期
页码:
73-78
栏目:
出版日期:
2019-09-30

文章信息/Info

Title:
Sensitivity Analysis of General Parameters for TurningPerformance of Autonomous Underwater Vehicle
文章编号:
1004-499X(2019)03-0073-06
作者:
刘 曜12朱 珠12
1.中国船舶重工集团公司第713研究所,河南 郑州 450015; 2.河南省水下智能装备重点实验室,河南 郑州 450015
Author(s):
LIU Yao12ZHU Zhu12
1.No.713 Institute of China Ship Industry Corporation,Zhengzhou 450015,China; 2.Henan Key Laboratory of Underwater Intelligent Equipment,Zhengzhou 450015,China
关键词:
自主水下航行器 敏感性分析 回旋运动 数值仿真
Keywords:
autonomous underwater vehicle sensitivity analysis turning performance numerical simulation
分类号:
TJ610.6
DOI:
10.12115/j.issn.1004-499X(2019)03-014
摘要:
为研究总体参数变化对自主水下航行器回旋运动稳定性的影响,针对水下航行器回旋运动总体参数的敏感性进行分析。在建立水下航行器六自由度空间运动方程的基础上,运用MATLAB/Simulink模块对水下航行器的空间回旋状态进行了数值仿真,得到了水下航行器空间回旋运动的规律。对各总体参数,如浮力、重心浮心距、重心下移量、重心侧移量变化对水下航行器的回旋速度、回旋角速度、回旋深度、回旋空间运动等回旋特性的影响进行了数值计算及分析,结果表明:浮力变化对水下航行器运动特性影响不大,重心浮心距变化会使俯仰角发生变化,重心下移量增大会提高水下航行器运行的稳定性,而重心侧移量增大则会降低其稳定性。
Abstract:
To study the effect of the change of general parameters on the motion stability of autonomous underwater vehicle’s turning performance,the sensitivity of general parameters of autonomous underwater vehicle was studied. The 6-DOF motion equations were established,and the three-dimensional motion model of underwater vehicle was built,and the turning pattern was numerically simulated by use of MATLAB/Simulink model,and the turning motion regulation was obtained. Taking turning performance of underwater vehicle as an example,the effects of general parameters such as buoyancy,the distance between gravity centre and buoyancy centre,the downward displacement of gravity centre and the lateral displacement of gravity centre on the turning velocity,turning angular-velocity,turning depth and turning space motion of underwater vehicle were numerically calculated and analyzed. The results show that the effect of buoyancy variation on motion performance of underwater vehicle is small; the variation of the distance between gravity centre and buoyancy centre can cause the change of pitch angle. The increase of downward displacement of gravity centre can improve the motion stability,but the increase of the lateral displacement of gravity centre can reduce the motion stability.

参考文献/References:

[1] 杜晓旭,宋保维,潘光. AUV水下回收过程的操纵性仿真研究[J]. 船舶力学,2011,15(8):838-843.
DU Xiaoxu,SONG Baowei,PAN Guang. Simulation of an AUV recovery[J]. Journal of Ship Mechanics,2011,15(8):838-843.(in Chinese)
[2]张宇文. 鱼雷弹道与弹道设计[M]. 西安:西北工业大学出版社,1999:72-99.ZHANG Yuwen. Torpedo ballistic and ballistic design[M]. Xi’an:Northwestern Polytechnical University Press,1999:72-99.(in Chinese)
[3]李天森. 鱼雷操纵性[M]. 北京:国防工业出版社,1999:92-118.
LI Tiansen. Torpedo manoeuvrability[M]. Beijing:National Defense Industry Press,1999:92-118.(in Chinese)

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 SUN Hao,CHEN Yun,FENG Yuan,et al.Variable Structure Controller for Longitudinal Control of Deep-submergence AUV[J].Journal Of Ballistics,2012,(03):20.

备注/Memo

备注/Memo:
收稿日期:2019-01-22
作者简介:刘曜(1971- ),男,高级工程师,硕士,研究方向为水下弹道控制与仿真。E-mail:2325387342@qq.com。
更新日期/Last Update: 2019-09-30