扁平潜器微速操纵性研究

针对扁平潜器的特点建立了其微速操纵性运动方程,提出了忽略攻角、漂角与旋转角速度耦合影响的水动力模型,由拖曳水池模型试验确定了攻角、漂角水动力,近似估算了旋转水动力.在主辅推进器的PD控制下,数值仿真计算了水平面航向保持与改变、垂直面潜浮的微速运动控制.

Simulation of submersible plate with elliptical section in low speed maneuvers

This study was conducted to determine appropriate equations governing low speed motion for submersible vehicles with an elliptical section. The hydrodynamic forces of attacking angle and drifting angle are coupled each other, but not coupled for rotating speed in the equa- tions. Under this assumption the hydrodynamic forces of attacking angle and drifting angle were determined by Oblique Test, and the hydrodynamics of rotating speed was calculated by Bottaccini method, which was used for torpedo form. Using the equations for low speed motion the simulations were carried out for horizontal and vertical motions, and the control forces were the main and assistant thrusters with PD method.