潜艇仿真数学模型的推导求解

The Derivation of Submarine Simulation Math Model

推导了潜艇重心与原点不重合情况下的水下六自由度空间运动方程，该方程含有重心对原点坐标ｘｇ，ｙｇ，ｚｇ的项并包括了流力、流力矩，具有更高的精度．并根据实际情况对方程进行合力取舍。

The math models of six-freedom motion of submarine underneath water are deduced.In the formula the items containing x g,y g,z g ,are included,and the force and moment caused by flow are also included.By simplifying some less important items, a group of submarine simulation formula with high precision is derived.