衡重参数对水下航行体铅垂面机动特性影响

Effects of Weighing Parameters on Vertical-plane Maneuver Property of an Underwater Vehicle

摘要:

掌握衡重参数对水下航行体机动特性影响对结构布局与总体方案设计极有帮助。针对铅垂面机动问题，建立了经过试验验证的回转外形航行体水下运动动力学模型，获得了不同衡重参数匹配关系下的机动弹道特性，分析了衡重参数及控制策略对机动性能的影响规律。研究发现，综合考虑机动方向等因素利用重力矩增大可用舵角是改善机动特性的关键。对铅垂面内向上机动，使质心位于浮心后方较远处，配合短时无控策略能够显著提升机动性能。

Abstract:

Knowledge of the effects of weighing parameters on the maneuver property of an underwater vehicle is beneficial to structure layout and systematic design. Aiming at vertical-plane maneuver problem ， an experiment-verified dynamic model applicable to underwater motion of axis-symmetric vehicle is established. Maneuver trajectory properties under different match relationships of weighing parameters are obtained，and the effects of weighing parameters and control strategies on maneuver performance are analyzed. Study indicates that increasing useable elevator angle is the key of maneuver property improvement，considering maneuver direction and other factors and exploiting gravity moment. As for upward maneuver within the vertical plane，arranging the center of mass far behind the center of buoyancy could significantly improve maneuver performance with the use of short-time free control strategy.