一种面向控制的潜艇运动模型的简化及仿真  

Simplification and Simulation of a Submarine's Motion Model for Control

作　　者：李光磊[1] 周永余[1] 陈永冰[1] 韩冰[2] 周岗[1] 

机构地区：[1]海军工程大学电气与信息工程学院,武汉430033 [2]海军蚌埠士官学校,安徽蚌埠233012

出　　处：《船海工程》2008年第6期17-21,共5页Ship & Ocean Engineering

摘　　要：潜艇在水下的运动是复杂的六自由度空间运动,难以建立简便实用的运动模型,因此对其控制器的设计和半实物实时模拟仿真环境的实现极为不便。以复杂的潜艇空间运动模型为基础,分析和评估水动力系数对操纵性的影响,构建一个较为简便的运动模型,通过仿真计算,验证该模型的正确性与合理性。The underwater motion of the submarine is complex with six degrees of freedom motion in three dimension space, therefore, it is difficult to obtain a simple and practical submarine motion model, and makes it inconvenient to design the controller and actualize the semi-practicality and real-time simulation. Based on the complicated submarine motion model, a group of simplified simulation formula with analysis and evaluation on the influence of hydrodynamic coefficients on the controllability of submarine was given. From the numerical simulation, the validity and rationality of this model was proved.

关 键 词：潜艇 水动力系数 模型 

分 类 号：U661.33[交通运输工程—船舶及航道工程]