装有全方向推进器的潜艇的运动仿真  

Motion simulation of submarine with variable vector propeller

作　　者：贡毅敏[1] 常欣[1] 黄胜[1] 

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2006年第3期367-371,共5页Journal of Harbin Engineering University

摘　　要：为研究全方向推进器在潜艇上的应用,对水下潜器进行了受力的分析.给出水下潜器六自由度运动的操纵性方程.为了简化程序中的运算,将水下潜器的6个自由度的运动方程通过Matlab解算转换为矩阵形式.考虑了水下潜器的运动环境的的影响.分别分析了尾部安装1个全方向推进器和首尾各安装1个全方向推进器时所产生的推力.完成2种情况下的水下潜器六自由度的运动仿真系统.该仿真系统采用一种普遍实用的数学模型,考虑了非线性的水动力,精度较高,适用于一般类型的水下潜器,对研究全方向推进器水动力性能及其在水下潜器上的应用有很大现实意义.To study the application of a variable vector propeller on a submarine, all the forces on the watercraft were analyzed and a maneuver equation of motion on three-dimension space provided. The motion equation to matrix was transformed using Matlab to predigest the program operation and consider the influence of environment. The thrust levels were determined of a single variable vector propeller on the stern or by one variable vector propeller on the stern and one on the bow. A motion simulation system based on a mathematical model was designed and considered the non-linear hydrodynamics. The results can be applied to submarines in general as well as further research on the hydrodynamic characteristics of a variable vector propeller.

关 键 词：全方向推进器 水下潜器 运动仿真 数学模型 

分 类 号：U661.313[交通运输工程—船舶及航道工程]