单点系泊潜标系统动力学建模与姿态分析

通过对单点系泊潜标进行动力学分析,利用集中质量法建立系统的动力学模型,编制Matlab仿真程序,通过数值模拟获取不同海流条件下,分析潜标系统的姿态。文中将一个典型潜标系统的浮球、锚链、重力锚等部件,利用集中质量法简化为节点,通过模拟真实环境中的海流流速在垂直方向的分布,设计1～5 m/s的流速剖面分布。将节点的物理参数和海流参数代入仿真程序中,得到各节点的姿态、节点间张力以及重力锚与海底摩擦力等数据。分析仿真结果,海流流速与节点的偏降、节点间的张力以及重力锚与海底的摩擦力成正比,仿真结果与实际情况相符。文中设计的建模方法和仿真程序可以为单点系泊潜标的总体设计、姿态估算、锚系配置提供工程参考。

Research on Dynamic Modeling and Attitude Analysis of the Submersible Buoy System

By analyzing the dynamics of submersible buoy system, the dynamic model of the system was established by the lumped mass method, and the Matlab simulation program was programmed. By numerical simulation the attitude of submersible buoy system under different sea current conditions was obtained. By analyzing the distribution of the currents in the vertical direction, a current profile of 1-5 m/s was design in this paper. Using the lumped-mass method, the components of submersible buoy system were simplified to nodes. The physical parameters of the nodes and current parameter ware brought into the simulation program, and the attitude, the tension between the node, and the seafloor friction data ware obtained. The simulation results that the attitude, the tension and the friction were proportional to the current velocity were in accordance with the actual situation. The modeling method and simulation program designed in this paper can provide engineering reference for the overall design, attitude estimation and mooring configuration of submersible buoy system.