潜器在冲击载荷下的运动和控制研究

潜器在水下发射火箭时会产生复杂的运动变化,对其研究很有实际意义。参照格特勒运动方程,建立潜器运动的非线性数学模型。导入实验模型的参数,对其六自由度基本运动进行了仿真,并与水池实验结果相比较,验证了仿真模型的有效性。导入发射火箭时潜器受到的完整载荷,计算分析了不同航速下潜器的运动响应和运动控制。结果表明,发射载荷对潜器运动将产生较长时间的显著影响,包括速度损失、升沉运动和纵倾角振荡。航速越小,运动变化越大,恢复所需时间越长,控制越困难。

Research on motion response and control of underwater vehicle under impact load

During the process of underwater rocket launching, the vehicle is complex in manoeuvrability. So it is significant to do researches on its motion response and control. A nonlinear mathematical model is established based on the Gertier submarine canonical equation of motion. A simulation model of the test model is established based on the mathematical model and its hydrodynamic parameters. It is also validated by experiment data. The entire mathematical model of load is proposed. Motion response and control study of the vehicle under various speeds are proposed. Results show that the motion of the vehicle is influenced obviously for a long period of time. Velocity loss, heaven motion and pitch vibration occur. The vehicle with lower speed has more obvious motion response, needs more time to return to qualified motion state and has more difficulties in control.