基于小扰动理论的潜航器动力学建模及仿真

Submarine Dynamic Modeling and Simulation Based on Small Perturbation Theory

潜航器仿真系统主要采用OSGOcean三维渲染引擎建立水环境。运用面向对象技术以及OSG视景系统实现了动态视景。目标潜航器通过CFD计算得到数据,并经过预处理得到潜航器水动力参数,利用经典动量定理与动量矩定理在搭建动力学模型。运用潜航器特殊姿态对动力学与运动学方程组进行求解,依据在小扰动理论做线性化处理,对潜航器横纵航行稳定性分析,便于方程简化找到主要影响因子,达到稳定控制潜航器姿态目的,最终实现潜航器能在较小扰动环境下稳定运行的效果。

Submarine simulation system mainly uses OSGOcean 3D rendering engine to build water environment. In the paper, dynamic vision was implemented using object-oriented technology and OSG visual system. The target submersible was obtained through CFD calculation and processed to obtain the submersible hydrodynamic parameters. The classical momentum theorem and momentum theorem were used to build the dynamic model. Using the special attitude of the submersible to solve the equations of dynamics and kinematics, according to the linearization process in the small disturbance theory, the stability analysis of the longitudinal and transverse navigation of the submersible is convenient for simplifying the equation to find the main influencing factors and achieve stable control of the attitude of the submarine. Ultimately, the submarine can achieve stable operation in a small interference environment.