连续冲击条件下水下潜器运动姿态估计方法

Estimation Method of Underwater Vehicle Motion Attitude Under Continuous Impact Condition

摘要:

基于潜器水下状态的平衡方程，建立了潜器运动模型。通过对水锤压力的数值仿真计算，建立了潜器航行体发射时的运动控制模型。根据这一数学模型，计算分析了潜器在完整火箭发射后效(发射冲击与完整的水锤效应)作用下的运动响应和运动控制。结果表明：发射单枚航行体对潜器运动姿态有较长时间的影响，潜器的初始速度越大，影响程度越小，影响时间越短。通过操舵和压载水舱的调节，可以对潜器的运动进行较满意的控制，在一定范围内控制效果随着初始航速递增。

关键词:潜器运动方程;航行体发射;水锤效应;姿态估计

Abstract:

In this paper，a motion model of the underwater vehicle is established based on the balance equation of the underwater state. Through the numerical simulation calculation of the water hammer pressure，the motion control model of the underwater vehicle during launch is established. According to this mathematical model，the motion response and motion control of the vehicle under the aftereffect of the complete rocket launch(launch impact and complete water hammer effect)are calculated and analyzed. The results show that launch of a single vehicle has a longtime impact on the motion attitude of the vehicle. The greater the initial speed of the vehicle，the smaller the degree of impact and the shorter the impact time. Through steering and the adjustment of the ballast tanks，the motion of the underwater vehicle can be controlled satisfactorily，and the control effect increases with the initial speed within a certain range.

Key words:motion equation of the underwater vehicle; vehicle launch; water hammer effect;attitude estimation