潜艇仿真数学模型的推导求解  

The Derivation of Submarine Simulation Math Model

作　　者：刘鹰[1] 赵琳[1] 

机构地区：[1]哈尔滨工程大学自动化学院

出　　处：《哈尔滨工程大学学报》1999年第2期26-33,共8页Journal of Harbin Engineering University

摘　　要：推导了潜艇重心与原点不重合情况下的水下六自由度空间运动方程，该方程含有重心对原点坐标ｘｇ，ｙｇ，ｚｇ的项并包括了流力、流力矩，具有更高的精度．并根据实际情况对方程进行合力取舍。The math models of six-freedom motion of submarine underneath water are deduced.In the formula the items containing x g,y g,z g ,are included,and the force and moment caused by flow are also included.By simplifying some less important items, a group of submarine simulation formula with high precision is derived.

关 键 词：潜水艇 仿真 数学模型 空间运动方程 六自由度 

分 类 号：U674.760.1[交通运输工程—船舶及航道工程]