水下航行体纵倾航行稳定性研究

Study on Pitch Sailing Stability of Torpedo

水下航行体运动方程含有诸多的非线性项,用传统的分析方法全面处理非线性问题有一定的难度。运用非线性科学中的分叉理论,系统地分析在纵倾控制系统作用下,水下航行体在退化平衡点处的航行稳定性。利用等价变换可将高维系统约化到低维的包含了原系统全部动力学特性的中心流形上来研究,得到跨临界分叉范式;分叉图表明姿态失稳及不规则弹道的机理;用系统状态方程的数值计算结果验证了系统的分叉现象。为水下航行体纵倾控制系统的参数设计提供了理论依据。

There are several nonlinear elements in the equation of torpedo movement. It is difficult to deal nonlinear problem with traditional methods. The bifurcation theory was used to study the sailing stability of torpedo under pitch control. The center manifold was used to reduce the dimension of system. The mechanism and ways of stability loss as well as the abnormal trajectory were found based on the transcritical bifurcation diagram. The results are verified with the numerical simulations. It provides the theory basis for torpedo pitch controller parameters design.