高海况下无人水下航行器的横摇运动分析  

Analysis on Rolling Motion of Unmanned Underwater Vehicle at High Sea State

作　　者：张钰 刘忠乐[1] 张志强[1] ZHANG Yu;LIU Zhongle;ZHANG Zhiqiang(Department of Weapon Engineering,Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学兵器工程学院,湖北武汉430033

出　　处：《数字海洋与水下攻防》2018年第3期50-54,75,共6页Digital Ocean & Underwater Warfare

摘　　要：为明确高海况下海况等级对无人水下航行器横摇运动的影响,得出满足某型无人水下航行器安全回收的海况条件,对高海况下无人水下航行器的横摇运动进行分析。运用频率响应法,分别在4级、5级和6级海况下,根据海浪谱密度函数和该型航行器的横摇频率响应函数,求得其横摇运动谱密度函数。再运用公式推导,得到其横摇运动的时域函数。使用MATLAB仿真软件对该型航行器进行横摇运动仿真,得到3种海况条件下,其横摇运动的时域函数图像,并验证仿真结果的准确性。仿真结论:高海况下的海况等级对无人水下航行器的横摇幅度有较大影响,满足其安全回收的海况条件为5级海况。To clarify the influence of sea state level on rolling motion of unmanned underwater vehicle at high sea state and obtain sea states that satisfy safe recovery of a certain type of UUV , this paper analyzes the rolling motion of the UUV under high sea state. This paper uses the method of frequency response to obtain the spectral density function of UUV rolling motion according to the spectral density function of wave and the rolling motion＇ s frequency response function of the UUV at level 4, level 5 and level 6 sea states, and then uses formula derivation to get the time-domain function of roiling function. Through using MATLAB to simulate the rolling motions of the UUV, the images of the time-domain function of rolling motion at 3 sea states are obtained, and the accuracy of simulation results is verified. The simulation conclusion is that the sea state level at high sea state has a great influence on the rolling magnitude of UUV and the sea state satisfying UUV＇ s safe recovery is level 5.

关 键 词：无人水下航行器 频率响应法 海况等级 谱密度 

分 类 号：TB126[理学—工程力学]