X舵潜艇空间运动仿真数学模型

X Rudder Submarine’s Mathematical Model of Space Motion Simulation

潜艇水下运动是六个自由度的多姿态运动,建立空间运动方程数学模型是计算机仿真时对其进行比较准确的描述和对运动状态进行仿真研究的关键。该文在对X舵进行受力分析的基础上,由美国泰勒潜艇六自由度方程出发,导出适合X舵潜艇控制和仿真数学模型,并给出了该数学模型的微分形式。

The submarine underwater motion is the 6D motion multi-stance movement . It requires quite exact description and dynamic simulation research. The key t echnology is to create submarine motion equation. This paper analyzes manipulati ve force and of X rudder, educes expression form of X rudder's rudder's force. A nd based on this expression form, the paper educes X rudder submarine's mathemat ical model of space motion simulation based on American Gertler mathematical mod el of submarine underwater 6D motion simulation. And it gives the mathematical m odel's differential equation which is adaped to simulation and control. So this paper makes necessary prepare for X rudder submarine's design and simulation.