水下潜器垂直运动的突变特性及稳定性分析

Catastrophe properties studies of submersible in dive plane

水下潜器在垂直面内以高速大舵角作强机动时线性理论不再成立,该文运用非线性动力学理论和突变理论,通过对水下潜器垂直面非线性方程的研究,讨论了水下潜器在垂直面内以高速大舵角作强机动时的非线性动态稳定性,建立了水下潜器垂直面运动的突变模型,并得到水平面运动的临界点集,具体描述了其突变特性,它可以帮助人们直观地了解水下潜器垂直面非线性运动的稳定性,为水下潜器控制系统的设计提供必要的理论依据.

The linearity theory will not be effective when a submersible is operating with high speeds and large rudder angle in the dive plane. Studied here is the nonlinear equation of a submersible in the dive plane using theory of nonlinear dynamic and catastrophe theory. By addressing its nonlinear dynamical stability and setting up the catastrophe model of a submersible in dive plane, nonlinear dynamical stability of the submersible can be known directly, thus providing a necessary theoretical dependence for designing the control system of a submarine.