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采用多刚体动力学、运动学方法,考虑水下运动多体系统受到的水动力作用的复杂性,建立了水下航行器的运载体和载荷分离的一种数学模型,并用 MATLAB/SIMULINK 对分离过程进行了仿真与分析,其结果与实验较为吻合,表明了该模型的正确性。
A multi-body dynamics and kinematic method are adopted to consider the complexity of the hydrodynamic effect on underwater multi-body system. A mathematical model of underwater vehicle’s load-bearing and carrier separation is established. The process is simulated and analyzed. The result is in good agreement with the experiment, which shows the correctness of the model.