水下运载器系统快速开盖运动学研究

Research on Kinematics of Rapid Lid Opening Process of Underwater Vehicle System

摘要:

水下运载器根据其使命，通常内部装载不同战斗载荷，其中上浮开盖过程是其作战流程中非常关键的一个动作过程，水下运载器在其工作过程中受到波浪力、火箭推力、重力、流体阻力等外界因素的影响，而开盖动作又使得水下运载器系统构件之间产生相对运动，其运动特性较为复杂。针对水下运载器系统， 利用多刚体 Kane 方法建立了系统的动力学方程，利用混合坐标系法描述刚体之间的位置关系，计算了不同工况下水下运载器系统开盖过程的运动响应，分析了影响开盖动作的因素。研究表明：增大推冲力或者增加推冲器作用行程都能明显缩短开盖时间，开盖动作对运载器壳体的运动影响较小，可以忽略；头盖重心位置越高，头盖翻转过程达到角速度拐点的时间会越短，对开盖越有利；运载器初始倾斜角与头盖转动方向一致时， 能较为明显缩短开盖时间；运载器初始倾斜角对推冲器作用效果的影响较小。

Abstract:

According to its mission，underwater vehicle is usually loaded with different combat payloads，and the lid opening process during vehicle rising is a key action flow in its combat process. The underwater vehicle system is affected by wave force，rocket thrust，gravity，fluid resistance and other factors during its working process，and its lid opening process generates relative motion between the components，which makes its motion characteristics complex. The dynamic equation of the underwater vehicle system is established based on Kane method. The mixed coordinate method is selected to describe the position relation of rigid bodies. The motion response of underwater vehicle under different load cases is calculated and the factors affecting the lid opening process are analyzed. The results show that increasing the thrust force or the piston stroke of thruster can obviously shorten the time of lid opening process. The lid opening process has little effect on the motion of underwater vehicle，thus it can be ignored. The higher the barycenter position of the lid is，the shorter the time to reach the angular velocity inflection point is，and the more beneficial it is to open the lid. When the initial inclination angle of the underwater vehicle is consistent with the rotation direction of the lid，the time of lid opening process can be shortened obviously. The inclination angle of the underwater vehicle has little influence on the thruster.