高海况下无人水下航行器的横摇运动分析

Analysis on Rolling Motion of Unmanned Underwater Vehicle at High Sea State

摘要:

为明确高海况下海况等级对无人水下航行器横摇运动的影响,得出满足某型无人水下航行器安全回收的海况条件,对高海况下无人水下航行器的横摇运动进行分析。运用频率响应法,分别在4级、5级和6级海况下，根据海浪谱密度函数和该型航行器的横摇频率响应函数,求得其横摇运动谱密度函数。再运用公式推导,得到其横摇运动的时域函数。使用MATLAB仿真软件对该型航行器进行横摇运动仿真,得到3种海况条件下，其横摇运动的时域函数图像,并验证仿真结果的准确性。仿真结论:高海况下的海况等级对无人水下航行器的横摇幅度有较大影响,满足其安全回收的海况条件为5级海况。

关键词:无人水下航行器;频率响应法;海况等级;谱密度

Abstract:

To clarify the influence of sea state level on rolling motion of unmanned underwater vehicle at high sea state andobtain sea states that satisfy safe recovery of a certain type of UUV , this paper analyzes the rolling motion of the UUV under highsea state. This paper uses the method of frequency response to obtain the spectral density function of UUV rolling motion accordingto the spectral density function of wave and the rolling motion ' s frequency response function of the UUV at level 4, level 5 and level6 sea states, and then uses formula derivation to get the time-domain function of rolling function. Through using MATLAB to simu-late the rolling motions of the UUV , the images of the time-domain function of rolling motion at 3 sea states are obtained, and theaccuracy of simulation results is verified. The simulation conclusion is that the sea state level at high sea state has a great influence onthe rolling magnitude of UUV and the sea state satisfying UUV's safe recovery is level 5.

Key words:UUV ; frequency response method; sea state level ; spectral density