无动力运载器水下运动建模与仿真

Modeling and Simulation of Underwater Motion for Unpowered Vehicle

水下长时间航行运动特性分析是无动力水下运载器的关键问题之一。针对上述问题,基于大量水动力试验数据,采用Matlab/Simulink构建了无动力水下运载器的六自由度数学仿真模型。利用该模型讨论了不同初始状态下偏转、速度变化等因素对运载器运动行为的影响。进一步,为了验证仿真模型的正确性和有效性,开展了无动力运载器的水下运动缩比试验。采用多样本平均方法对试验数据进行处理,以降低随机误差对试验结果的影响。试验分析表明,所构建的仿真模型能够实现无动力运载器水下运动的模拟,尤其适用于初始扰动作用的仿真与分析,为无动力水下运载器的姿态控制性能研究提供了依据。

The analysis of long-term motion is one of the key problems for unpowered vehicle. Based on the hy- drodynamic test data, the six degrees of freedom simulation model of underwater motion for the unpowered vehicle is established by using Matlab/Simulink system. With this model, the motion behaviors of unpowered vehicle with dif- ferent initial states are discussed. In order to verify this model, the smaller scaled experiment is implemented. Fur- ther, the multi-sample averaging method is used to handle the experimental data, reducing the effect of random er- ror. The experimental analysis demonstrates that the proposed model is available for simulating the underwater motion of unpowered vehicle, especially for analyzing the effect of initial disturbances.