摘要
针对一种用于海底管线检测与维修的新型潜水装置建立了操纵运动数学模型 .在阻力及操纵性试验所得数据基础上 ,估算了其水动力系数 .运用线性系统理论对其特征值和特征向量进行了分析 ,将垂直面运动和水平面运动分解为不同的运动模态 ,并讨论了各种模态特点及其成因 .
A mathematical maneuvering model of a new type of underwater vehicle for pipeline detection and maintenance was presented. The hydrodynamic forces were estimated based on the data obtained in the experiment in towing tank. Linear system theory was applied to study the hydrodynamics of the vehicle. The motions in vertical plane and horizontal plane were divided into a few modes, through the analysis of eigenvalue and eigenvector. The characters and origins of each mode were discussed.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2001年第10期1547-1551,共5页
Journal of Shanghai Jiaotong University
基金
国家863海洋领域重大专题(浅海重载装备坐落智能控制技术)资助项目 ( 82 0 -11-0 1)
关键词
潜水器
船舶操纵性
线性系统
水动力特性
Hydrodynamics
Linear systems
Maneuverability
Mathematical models
