航行器水中运动数学模型及数值仿真

Mathematical model and simulation for underwater motion of vehicle

根据水下垂直发射航行器水中运动的特点,利用质心运动定理和绕质心的动量矩定理,推导建立航行器水中运动的运动学模型和动力学模型。采用Matlab软件中的ODE解算器,对建立的数学模型进行数值仿真,得到航行器水中运动的速度和姿态角。

Based on features of vertical launching underwater,the kinematics model and dynamics model for underwater motion of vehicle were established by the theorem of centroid movement and the moment theorem.The mathematical model was simulated numerically with the ODE solver of Matlab.And the result was the velocity and attitude angle of vehicle in the underwater motion.