无人水下航行器外挂鱼雷武器运动矢量建模与仿真

Vector Modelling and Simulation of the Unmanned Underwater Vehicle Hung with Torpedoes Externally

为建立外挂鱼雷武器的无人水下航行器(UUV)的空间运动矢量模型,本文首先根据稳性计算和流体动力仿真计算,确定外挂鱼雷的最佳位置。接着基于经典的动量和动量矩定理,推导外挂鱼雷武器的UUV运动矢量模型,同时重点分析了作用在无人航行器上的流体动力和力矩,以及鱼雷对无人航行器的反作用力和力矩。并在建立的外挂鱼雷武器的UUV六自由度空间运动模型的基础上进行了仿真计算,并对仿真结果进行了分析。

In order to model the unmanned underwater vehicle（UUV） hung with torpedoes externally,the optimal location of external torpedoes was determined based on the calculations of the stability and the hydrodynamic parameters.The 6 DOF vector motion model of the UUV was established by the classical momentum and moment of momentum principle;hydrodynamic forces and moments exerted on the UUV and torpedo＇s reaction forces and moments exerted on it were analyzed emphatically;the simulation was performed by the model.