波浪对鱼雷形长航程AUV微速操纵性的影响分析(英文)  

Effect of Wave to Low Speed Maneuvers of Torpedo-like Long-distance AUV

作　　者：杜晓旭[1] 宋保维[1] 孟锐[2] 李家旺[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072 [2]西北工业大学计算机学院,陕西西安710072

出　　处：《系统仿真学报》2008年第8期1945-1949,1960,共6页Journal of System Simulation

摘　　要：在建立适合于鱼雷形长航程自主水下航行器(简称:AUV)微速操纵运动仿真的六自由度数学模型的基础上,基于线性波浪理论建立了波浪对鱼雷形AUV作用力的数学模型,并对AUV在近水面做悬停运动以及下潜运动时的操纵性受海洋环境力的影响进行仿真研究,结果表明鱼雷形AUV在不同海况波浪的影响下可以稳定的完成定点悬停和垂直下潜运动;二级波浪对鱼雷形AUV操纵性的影响较小,四级波浪对鱼雷形AUV操纵的影响较明显;波浪对AUV操纵性的影响随深度的增加而迅速较小。The appropriate equations governing low speed maneuvers for the torpedo-like long-distance autonomous underwater vehicle （AUV） were built. Than adopting linear wave theory, the model of AUV＇s wave force was built. Than the effect of the wave to the maneuverability of the A UV stationkeeping at the surface or upright sinking was simulated. The results of the simulation show that the AUV can steady complete the stationkeeping movement and upright sinking movement in the Grade 2 wave and in the Grade 4 wave; the effect of the Grade 2 wave to the maneuverability of the AUV is little, and the effect of the Grade 4 wave is very obvious; the effect of the wave to the maneuverability of the AUV is descending with increasing of the depth.

关 键 词：操纵性 线性波浪 仿真 自主水下航行器 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程]