水下滑翔机定常螺旋回转运动特性分析

Steady Spiral Turning Motion Performance of Underwater Glider

通过简化滑翔机六自由度运动方程,建立了滑翔机定常螺旋回转滑翔运动的控制方程,给出了求解该方程的迭代计算算法。利用该算法,分别研究了HUST-2号滑翔机重浮力差、横滚角、俯仰角、偏航力及力矩对滑翔机回转运动参数的影响。结果表明,随着重浮力差的增加,滑翔机的滑翔速度、回转半径、俯仰角均接近于线性增加,而攻角与偏角则逐渐减小。滑翔机作回转运动时,存在一最佳横滚角,在该角度下滑翔机即可获得较小的回转半径。随着俯仰角的增加,滑翔机速度与回转半径均基本呈线性增加。垂直尾翼的面积与安装位置对滑翔机的回转特性有重要影响,当安装位置一定时,可通过适当调整垂尾面积的大小来保证滑翔机回转机动的能力。

Steady spiral turning motion equation of an underwater glider was established by simplifying the 6-degree of freedom motion equations of the glider. An iterative algorithm solving the equation was presented. Influences of the difference between gravity and buoyancy, rolling angle, pitching angle, lateral force and yawing moment on the turning motion of the HUST-2 glider were studied. Simulation results show that the glider＇s velocity, turning radius and pitching angle is approximately linearly increased with the increase of the difference between gravity and buoyancy, while the attack, and yaw angle of the glider is decreased. There is a rolling angle making smaller turning radius of the glider littler. The glider＇s velocity and turning radius are approximately linearly increased with the increase of the pitching angle. Turning performance of the underwater glider is strongly affected by the area of the vertical empennage and its mounting location.