基于等效动稳定性系数的潜艇运动控制方法

Submarine Motion Control Method Based on Equivalent Coefficient of Dynamic Stability

对由线性运动方程和Routh-Hurwitz判别法导得的操舵比例函数求解,获得潜艇运动控制新方法,将控制增稳所需的修正舵角与原舵角组合成新指令舵角,可改善潜艇的航行品质。以具有十字舵的某型潜艇为对象求解6自由度运动方程,其中典型的潜艇水下定深回转工况仿真模拟表明:操舵比例系数与水动力导数和等效动稳定系数有关,控制增稳效果受到运动特征量和潜艇操舵角度等因素的影响。潜艇运动控制新方法改善了潜艇航行过程中的运动响应,提高了那些由于自动稳定性不足而难以操控的潜艇的控制稳定性。潜艇运动控制新方法为未来潜艇通过减小操纵面来优化自身综合水动力性能提供了新的技术途径。

The corrected rudder angle required for increasing stability of submarine was obtained by solving the steering ratio function derived from the linear motion equation of the submarine and the Routh-Hurwitz discriminant method.Together with the original rudder angle of the submarine,a new command rudder angle was formed to improve the submarine navigation performance.Taking a submarine with cross-rudder as example,the equation of six-degree-of-freedom motion for the submarine was solved,and the typical submerged turn at depth-keeping condition was simulated.The results indicated that the submarine motion response under navigation was significantly improved and the control stability was also effectively promoted for those with insufficient automatic stability,the difficult control caused by the insufficient stability of the submarine was overcome.The steering scale coefficient used for control was only related to the hydrodynamic derivative and the equivalent coefficient of dynamic stability.The new method was universal to different target submarines and could be utilized in different maneuvering conditions.The control stability would also be affected by the factors such as the motion characteristic quantity and the steering angle of the turning.This paper had given a new technical approach for the design method of future submarines to optimize their comprehensive hydrodynamic performance by reducing of the area control surface.