陀螺效应作用下水下航行体动力学模型

当安装于水下航行体上的旋转装置质量或转动惯量达到一定程度时,其对水下航行体运动与操纵的影响是不可忽略的。针对安装于水下航行体上的旋转装置,分析了水下航行体运动时装置的陀螺效应。得出了旋转装置陀螺力的明确数学方程。不失方法的一般性,假设旋转装置只在运动坐标系的X轴方向有旋转角速度,推导了在考虑陀螺效应作用的情况下水下航行体的六自由度模型方程;以此为基础,建立了水下航行体的仿真模型并对水下航行体的水下运动特性进行了仿真,分析了旋转装置的质量、角速度对水下航行体运动特性的影响规律,从而为研究在考虑陀螺效应情况下的水下航行体操纵奠定了基础。

Research on the dynamics model and motion characteristics of submerged vehicle considering the gyroscopic effect

Gyroscopic effect caused by a rotational device on submerged vehicle could not be ignored if its moment of inertia is reached to some extent.This paper discusses the principle of gyroscopic effect on the submerged vehicle.The equations of force caused by the gyroscopic effect of a rotational device are derived.With the assumption that rotational device only rotates around X axis,the 6 degrees of freedom equations are obtained considering the combined maneuver of gyro rotation and submerged vehicle motion.Based on the works of the above,a simulation model of submerged vehicle is found and the its motion characteristics are simulated.The results demonstrate the impact of gyroscopic effect on its motion distinctly.The research of this paper lays the foundation for further researches on submerged vehicle control under gyroscopic effect.