两栖车辆水上操纵运动建模与仿真

Modeling and Simulation of Maneuvering Behavior of Sailing Amphibious Vehicle

研究两栖车辆航行操纵预报精度问题,两栖车辆水上操纵性能目前仅以工程估算和实车试验预报,精度较差。基于水动力学理论与刚体动力学理论提出了一种两栖车辆水上操纵运动的仿真方法。车体运动由刚体空间运动方程描述,外力项按照物理特性分类求解。水动力项采用泰勒展开,水动力系数依据车辆形体特征和水动力学理论进行简化与计算,并采用龙格-库塔法解算运动方程。实现了准确预报了两栖车辆的操纵运动,计算结果与文献结果基本一致,表明方法可用于预报两栖车辆的水上操纵运动。

A method for simulating maneuvering behavior of amphibious vehicle is referred based on rigid body dynamics and hydrodynamics for solving the problem that maneuverability of vehicle is hard to predict and analyze.Motion is described by space motion equations of rigid body.Force term is solved according to physical property.After being converted into Taylor series,hydrodynamic term is simplified and calculated according to shape feature of vehicle and hydrodynamics theory.Runge-Kutta method is employed to solve maneuvering motion equations.Conclusion shows that the numerical predicting result is identical with result in former literature,and the method can be used to predict maneuverability of amphibious vehicle.