深海潜水器运动操纵仿真研究

Research on motion simulation of deep sea submersible

为研究深海潜水器水下运动特性,对某深潜器水下空间运动开展仿真研究。本文给出了深海潜水器六自由度运动方程,基于C++自编程序解算潜水器运动方程,MFC对话框显示潜器重要参数,完成了深海潜水器运动仿真软件的开发,并对回转运动以及定深下的回转运动进行仿真研究。研究结果表明:该深潜器具备良好的空间机动性,由于外形上下不对称而导致产生向上的微弱水动力特性;定深状态下的回转直径相对较小,反映出垂向诱导水动力对回转直径的干扰影响,通过定深控制可保证深潜器能够较好地完成水平面回转运动作业。

In order to study the underwater motion characteristics of a deep-sea submersible, the underwater space motion of a deep-sea submersible is simulated in this paper. In this paper, the six degree of freedom motion equation of deep-sea submersible is given, the motion equation of deep-sea submersible is solved based on C++ self programming, the important parameters of deep-sea submersible are displayed in MFC dialog box, the development of deep-sea submersible motion simulation software is completed, and the rotary motion and rotary motion under fixed depth are simulated. The results show that the submersible has good spatial maneuverability and weak hydrodynamic characteristics upward due to the asymmetry of shape up and down. The rotary diameter in the fixed depth state is relatively small, which reflects the interference effect of vertical induced hydrodynamic force on the rotary diameter. The fixed depth control can ensure that the deep submersible can complete the horizontal rotary movement better.