水下滑翔机三维自由扰动分析

Analysis of three-dimension free disturbance process of underwater glider

水下滑翔机以其低功耗、低成本和低噪声等优势在海洋科研、环境监测、资源探测和军事侦察等领域具有广阔的应用前景,文章分析水下滑翔机三维定常运动自由扰动过程各特征参数的运动模态、衰减速度和稳定性品质。通过对直线定常运动和螺旋定常运动的分析得到了水下滑翔机三维定常运动8个状态参数的变化特点。对水下滑翔机的设计和控制具有一定指导意义。

Underwater glider has broad application prospect in marine scientific research,environmental monitoring,resource exploration and military reconnaissance etc since it consumpts less energy,costs less and has less noise. In this paper,the motion mode,attenuation speed and stability of the characteristic parameters during the 3D free disturbance process of the underwater glider are analyzed. By analyzing the linear steady motion and the spiral steady motion,characteristics of the eight state parameters during the 3D steady motion of the underwater glider are obtained,providing guidance and reference for the design and control of the underwater glider.