控位滑行航行器的运动分析与弹道仿真

Motion Analysis and Trajectory Simulation of Site Controllable Underwater Glider

控位滑行航行器是一种结构简单、能源的利用率高,同时机动性也较好的新型水下航行器。为了解决控位滑行航行器的运动优化控制,针对控位滑行航行器的滑翔和近水面的控位运动稳定性问题,利用控位和滑翔运动特点,根据动量和动量矩定理建立了航行器空间运动数学模型,通过MATLAB/Simulink软件模块建立了航行器空间六自由度运动仿真模型,并对滑翔和控位运动弹道进行了仿真,分析总结了航行器在不同运动模式和工况下的稳定性,并对不同参数条件下的航行器稳定性品质和衰减历程进行了对比。结果表明在给定的初始条件下控位滑行航行器是能按照预设轨迹航行,完成航行任务,满足设计要求的。

Site controllable underwater glider is a kind of underwater vehicles which has simple structure,high energy utilization and good maneuverability.This paper mainly focused on the glider＇ s gliding and movement near the surface of the water in order to understand the movement process of the site controllable underwater glider.Based on the momentum and moment of momentum theorem and considerate the movement characteristics,we established a glider＇s space motion mathematical model,then established the six degrees of freedom motion simulation model for the glider using MATLAB/Simulink software,and simulated the trajectory of gliding and site controlling,analyzed and summarized the stability of the glider in different movement patterns and working conditions,comparatively analyzed the quality of stability and attenuation course of the glider under different conditions.The results show that the site controllable underwater glider can navigate according to a preset trajectory to complete navigation tasks and meet the design requirements with given initial conditions.