摘要
为了模拟滑翔机在改变浮力大小、质心位置后产生滑翔运动的能力以及回转特性,针对水下滑翔机的运动控制特点,基于柯西霍夫方程,建立了水下滑翔机六自由度空间运动非线性仿真分析模型.对HUST-2号水下滑翔机在垂直平面内的滑翔运动以及回转运动的仿真结果和试验结果进行了比较,两者符合得较好,验证了数学模型的准确性,为利用该模型设计新型滑翔机提供了有效的工具.
In order to simulate the ability of the glider to change the size of the buoyancy and the position of the center of mass,and the ability to produce the gliding motion and the rotation characteristic,a mathematical simulation model which considering the character of the underwater glider motion control about nonlinear 6-degree of freedom（DOF）motions performance was established based on the Kirchoff′s equation.The simulation results were compared with the experimental results for the motion of the HUST-2in the vertical plane and turning motion,they agreed well with each other.It has been confirmed that the simulation model is valid and the tool developed is able to be used in the preliminary design for the underwater glider.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2016年第1期76-80,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家高技术研究发展计划资助项目(2012AA091002)
关键词
水下滑翔机
运动特性
六自由度
非线性
仿真
underwater glider
motion performance
6-degree of freedom（DOF）
nonlinear
simulation
