考虑局部来流攻角修正的X舵水下航行体舵卡状态运动特性研究  

Research on the Motion Characteristics of X-rudder Underwater Vehicle with Rudder Jamming State Considering Local Attack Angle Correction

作　　者：李迎华[1,2] 潘子英 李永成[1,2] 胡坤 张华[1,2] 肖冬林 LI Yinghua;PAN Ziying;LI Yongcheng;HU Kun;ZHANG Hua;XIAO Donglin(China Ship Scientific Research Center,Wuxi 214082,China;Taihu Laboratory of Deepsea Technology and Science,Wuxi 214082,China;Navy Submarine Academy,Qingdao 266199,China)

机构地区：[1]中国船舶科学研究中心,无锡214082 [2]深海技术科学太湖实验室,无锡214082 [3]海军潜艇学院,青岛266199

出　　处：《中国造船》2024年第4期125-132,共8页Shipbuilding of China

基　　金：水动力预研项目(50907020101)。

摘　　要：针对传统舵力模型无法表征水下航行体X舵发生舵卡时不同舵叶受力存在差异的问题,在分析舵叶局部绕流特性的基础上,提出了基于局部攻角精确表征的舵力修正方法,并通过小舵角单舵卡的自航模试验进行了验证。对于大舵角双舵卡状态,分别用原舵力模型和修正的舵力模型进行了挽回过程仿真的对比。结果表明二者的仿真结果存在显著差异。修正的模型在深度方向的挽回偏危险,主要是由于该模型较好地反映了带X舵的水下航行体上下舵绕流的非对称特性。There is a significant difference in the rudder force on different rudder blades during a rudder jamming accident of the X-rudder underwater vehicle,which traditional mathematical models of maneuvering motion cannot represent.This paper proposes a new model of maneuvering motion based on accurately characterizing the local inflow angle on the rudder surface,which has been verified through self-navigation model experiments of single rudder jamming under small rudder angles.Simulation results of the recovery process using the original rudder force expression are compared with that using the modified rudder force expression for the dual rudder jamming state with a large rudder angle.The results show that the recovery conclusions of the two models are opposite,mainly because the new model accurately reflected the asymmetric characteristics of the upper and lower flow around the X-rudder.

关 键 词：X舵 操纵性 数学模型 舵卡 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O351.2[自动化与计算机技术—控制科学与工程]