舰船机动中拖曳系统建模与定深控制研究

Mathematic Model and Depth Control of Special Underwater Towed System During Warship Maneuvers

针对拖曳系统在舰船机动过程中拖体深度产生复杂变化的问题,考虑拖曳系统运动和舰船操纵之间相互作用,建立了相应的耦合数学模型。舰船采用经典的MMG模型,拖缆和拖体的动力学模型分别采用有限差分法和水下运载器的六自由度运动方程。采用数值计算方法,获得了系统在舰船机动过程中的响应,并运用经典PID算法,通过控制拖体水翼的攻角,实现了拖体在舰船机动过程中的目标深度控制。仿真结果表明这一方法正确有效,具有一定的理论意义和工程应用价值。

The depth of underwater towed system varies during the warship turning maneuvers. Moreover, on the basis of considering the nonlinear interaction relationship between the warship and underwater towed system, the corresponding coupling mathematical model was established. The classical MMG model was adopted by ships and warships, and the finite difference method and 6 DOFs of underwater vehicle were adopted by towing cable and towed vehicle respectively. Using numerical calculation method, the response in the process of system in ship maneuvering was obtained. Using the classical PID algorithm, target depth control of towed body in the process of ship maneuvering was implemented by controlling the body water wing attack angle. Simulation results show the correctness and effectiveness of this method, which has certain theoretical significance and engineering application value.