脐带缆对水下航行器动态响应的影响评估研究  

Assessment of the impact of communication cable on the underwater vessel

作　　者：章浩燕[1] 朱克强[1] 

机构地区：[1]宁波大学,浙江宁波315211

出　　处：《舰船科学技术》2014年第7期97-102,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(11272160;10872098;10572063)

摘　　要：为准确预测水下带缆航行器的运动状态,需先对连接于航行器尾部的缆索的运动形态进行预测并建立模型,以评估其对航行器运动的影响。本文提出一种数值方法,用于评估脐带缆索对水下航行器运动的影响,与实际结果进行对比分析后可知,该数值方法误差小,可以作为反馈控制器用以补偿脐带缆索对航行器运动的影响。这对于自动驾驶仪进行系泊作业具有重要的意义。本文重点研究水下航行器直航时张力的变化情况,结果表明拖点处缆索张力随着拖曳时间增长而增大,且近似于线性增加。由这一结果可以得出,在航行器直航时,缆索拖点处最大张力会限制航行器的直航距离或下沉深度。这一结论可用于指导直航时航行器作业距离。In order to accurately predict the motion state of underwater vehicle with communication cable, the model of the cable connected at the vehicle is required to be made at first. This paper presents a numerical method for evaluating the communication cable for underwater vehicle movement. The result shows that method is effective and provides a means for developing a feed -forward controller to compensate for the cable effects when developing an autopilot for the tethered vehicle. The focus in this paper is the case of forward - moving, the tension of the cable increases over time and similar increases linearly. This indicates that the in the straight ahead motion, the cable tension will limit the maximum distance or depth. This conclusion can be used for guidance when the flight is working.

关 键 词：预测 数值法 反馈控制 直航 

分 类 号：P756[天文地球—海洋科学]