水下滑翔器定常直线滑翔运动稳定性分析

Study of Stability of Underwater Glider Non-acceleration Linearly Gliding

对水下滑翔器定常直线滑翔运动的稳定性问题进行研究。以定常直线滑翔运动时的纵倾角为考察对象,利用自由扰动运动方程特征根的方法对研制的滑翔器的运动稳定性进行了分析判断。在此基础上,考察了在小扰动作用下纵倾角扰动量的时间响应特性。研究结果表明,研制的水下滑翔器在做定常直线滑翔运动时,具有运动稳定性,而且具有方向稳定性。

The stability of autonomous underwater glider （AUG） non-acceleration linearly gliding is studied. Aiming at pitching angle while non-acceleration linearly gliding, the free disturbing motion equation is established and the latent roots of the equation is stud- ied for the stability of AUG non-acceleration linearly gliding. Under the condition of small disturbance, the response characteristic of disturbed pitching angle is studied. The results of the study show that the AUG developed by NOTC is not only stable, but also directional stable while non-acceleration linearly gliding.