小型水下无人航行器的下潜过程研究

Research on Submergence Process of Small Unmanned Underwater Vehicles

摘要:

以小型水下无人航行器（UUV）为研究对象，研究旨在探讨和分析关键参数变化对 UUV 下潜过程的影响，并采用控制变量法来研究单一因素对 UUV 下潜过程的影响。研究结果表明：在 UUV 行进过程中， 水流对舵翼产生升力，从而产生扭矩促使其下潜。因此，在 UUV 下潜时，姿态应尽量平稳，且俯仰角和下潜深度不宜过大。为了确保 UUV 在逆流和复杂环境下成功下潜，要求在保留一定余量的基础上，尽可能减小舵板舵角和螺旋桨转速。

关键词:水下无人航行器(UUV);下潜过程;螺旋桨转速;舵板角度

Abstract:

This study focuses on small unmanned underwater vehicles（UUVs）and aims to investigate and analyze the effects of key parameter variations on UUV's diving process. The controlled variable method is employed to analyze the influence of a single factor on UUV's diving process. The research results indicate that during navigation，water flow generates lift force on the rudder，resulting in a torque that causes UUV to dive. Therefore， it is advisable to maintain a smooth attitude and avoid excessive pitch angle and diving depth during UUV's descent process. To ensure successful diving in adverse currents and complex environments，it is necessary to minimize the deflection angle of the rudder and the propeller speed，while retaining a certain margin.

Key words:underwater unmanned vehicle(UUV);diving process;propeller speed;rudder plate angle