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在建立适合于鱼雷形长航程自主水下航行器(简称:AUV)微速操纵运动仿真的六自由度数学模型的基础上,基于线性波浪理论建立了波浪对鱼雷形AUV作用力的数学模型,并对AUV在近水面做悬停运动以及下潜运动时的操纵性受海洋环境力的影响进行仿真研究,结果表明鱼雷形AUV在不同海况波浪的影响下可以稳定的完成定点悬停和垂直下潜运动;二级波浪对鱼雷形AUV操纵性的影响较小,四级波浪对鱼雷形AUV操纵的影响较明显;波浪对AUV操纵性的影响随深度的增加而迅速较小。
Based on the mathematical model of six degrees of freedom suitable for the micro-maneuvering motion simulation of the torpedo-shaped long-range autonomous underwater vehicle (AUV), the mathematical model of the force acting on the torpedo-shaped AUV by waves is established based on the linear wave theory The simulation study on the AUV’s hovering motion near the surface and the maneuverability under the oceanic environment during the diving exercise shows that the torpedo-shaped AUV can accomplish the fixed-point hovering and the vertical diving under the influence of different sea-wave waves The influence of the second wave on the maneuverability of the torpedo-shaped AUV is small. The influence of the fourth wave on the torpedo-shaped AUV is obvious. The influence of the wave on the AUV maneuverability decreases rapidly with the increase of the depth.