海流对水下滑翔机运动参数的影响

Influence of ocean current on motion parameters of underwater glider

为了便于在有洋流存在的海洋中规划出滑翔机的运动路径,利用水下滑翔机六自由度空间运动仿真分析模型,研究了洋流对滑翔机运动参数及轨迹的影响以及偏流存在时滑翔机航向的控制。模拟结果表明:逆流的存在会使得滑翔机的俯仰角、攻角作出相应调整,以适应新的流动情况,但运动姿态是稳定的;无论出现何种方向的偏流,滑翔机均会调整航向对准来流方向前行;有偏流存在时,可以通过调整滑翔机的横滚角,使得滑翔机部分抵消海流的影响,尽可能少地偏离原航向。

In order to plan the underwater glider movement path in ocean flow,the influence of the ocean current on the motion parameters and the track of the glider is researched by using the mathematical simulation model of 6-DOF underwater glider motions.And the heading control method of the glider is also researched when there is deflection ocean current.The simulation results show that because of the adverse current,the angle of pitch and attack will change to accommodate the new flow and the motion posture of the glider is stable when there is the adverse current.No matter what a direction of deflection ocean current occurs,the underwater glider will adjust its heading in alignment to the coming current.The roll angle of the glider will be changed to partly offset the influence of the current and to motion with less deviation from the original course when there is deflection ocean current.