拖曳式导航浮标对回转体UUV操纵性的影响

Effects of Dragging Navigation Buoyage on Maneuverability of Body-of-revolution UUV

为了验证回转体无人水下航行器(UUV)采用拖曳式导航浮标进行卫星辅助导航的可行性,研究了拖曳式导航浮标对回转体UUV操纵性的影响。根据达朗伯原理建立了拖曳系统运动数学模型,根据动量和动量矩方程建立了回转体UUV六自由度运动数学模型,并对拖曳式导航浮标对回转体UUV操纵性的影响进行了仿真。仿真结果显示:导航浮标对回转体UUV的操纵性造成一定的影响,但回转体UUV仍可以稳定的运动;导航浮标对回转体UUV的运动参数都有一定的影响,回转体UUV的运动曲线、俯仰角、速度、角速度、攻角等参数都有一定的振荡变化,一定时间后趋于稳定;回转体UUV拖曳导航浮标运动期间,由于拖曳导航浮标系统对回转体UUV尾部有一定的作用力,造成回转体UUV的轴向速度有较大的减小。研究表明,回转体UUV采用拖曳式导航浮标进行卫星辅助导航是可行的。

In order to validate the feasibility of navigation for the body-of-revolution unmanned underwater vehicle（UUV）by the dragging navigation buoyage,some researches on the effects of the dragging navigation buoyage on the maneuverability of body-of-revolution UUV were carried out.Based on d＇Alembert principle,the motion equations of the dragging system were established.And,based on the equations of momentum and moment of momentum,the 6 degree of freedom motion model of UUV was established.Then,the effects of the navigation buoyage on the maneuverability of the UUV were simulated numerically.The simulation results show that the navigation buoyage influences the maneuverability of UUV in a certain extent,however,UUV can still move steady.The results also show that the navigation buoyage results in the shaking changes of some UUV＇s motion parameters,such as displacement,pitch angle,velocity,angular velocity,angle of attack,and when UUV drags the buoyage,the dragging system will bring a force to the UUV＇s tail,thus,the velocity reduces obviously.The study illuminates that the mode for UUV navigated by the dragging navigation buoyage is feasible.