水下航行器非正常超浅停车问题研究  

Research on Abnormal Ultra-shallow Shutdown of Undersea Vehicles

作　　者：李厚全[1] 冯潇涛 张孝芳[1] 赵志博 LI Hou-quan;FENG Xiao-tao;ZHANG Xiao-fang;ZHAO Zhi-bo(Nary Submarine Academy,Qingdao 266199,China;92767th Unit,The People’s Liberation Army of China,Qingdao 266102,China;91049th Unit,The People’s Liberation Army of China,Qingdao 266102,China)

机构地区：[1]海军潜艇学院,山东青岛266199 [2]中国人民解放军92767部队,山东青岛266102 [3]中国人民解放军91049部队,山东青岛266102

出　　处：《水下无人系统学报》2022年第4期523-527,共5页Journal of Unmanned Undersea Systems

摘　　要：针对水下航行器在设定深度下航行时,有时会出现航行深度未达超浅深度而出现非正常超浅停车的问题,对可能导致水下航行器非正常停车的各种因素进行了分析。采用数值仿真分析了不同航速下流体压力对水下航行器不同位置的影响,并结合海上试验数据分析了水下航行器非正常停车故障发生时的水动力误差分布规律。数值仿真和海上试验分析表明,水下航行器航行深度临近最小航行深度时,航行器前、后端深度传感器所受流体压力存在差异,且随航速不同而不同,当航行超过一定航速引起流体压力误差过大,导致后部的深度传感器所处深度为正常设定深度而前部的深度传感器已处于超浅状态,此时便会发生非正常停车故障。Concerning the problem of abnormal ultra-shallow shutdown protection, undersea vehicles navigate at a set depth even if they are not navigating at ultra-shallow protection depths. Various factors that may lead to the abnormal shutdown of undersea vehicles are analyzed. The numerical simulation method is used to analyze the effect of fluid pressure on different positions of the underwater vehicle at different speeds. The distribution law of hydrodynamic errors, which are observed when an abnormal shutdown of undersea vehicles occurs, is obtained based on sea trial data. The numerical simulation and the trials indicate that, when the vehicle navigates near the minimum depth, there will be a fluid pressure difference between the front and back depth transducers on the vehicle, which varies with the speed of the vehicle. When the speed of the vehicle exceeds a certain value, the fluid pressure error will be so large that the back depth transducer will indicate a normal depth while the front transducer will indicate an ultra-shallow state, thus resulting in an abnormal shutdown.

关 键 词：水下航行器 深度控制 超浅停车 

分 类 号：TJ67[兵器科学与技术—武器系统与运用工程] U674.70[交通运输工程—船舶及航道工程] TP13[交通运输工程—船舶与海洋工程]