摘要
为探究拖缆对水下航行器的操纵性能影响,基于集中质量法建立了拖缆的动力学方程,利用边界耦合条件,将拖缆首端产生的张力影响计入水下航行器的六自由度运动方程组,建立了拖缆-水下航行器耦合运动模型。通过数值仿真计算,对比分析了拖缆对航行器直航、回转和下潜运动时的操纵性能影响。数值分析结果表明:航行器加装拖缆后,航行器在直航、回转和下潜运动时的速度有所降低;航行器回转运动时,拖缆会减小回转半径;航行器下潜运动时,拖缆降低了航行器的下潜稳定性,且减小了航行器弹道倾角的绝对值,增大了航行器达到预定深度的距离,同时由于航速降低,导致航行器达到预定深度的时间会增加,从而也降低了航行器下潜性能。
In order to explore the impact of towed cable on the maneuverability of underwater vehicle, a dynamic equation of the towed cable is established based on the lumped mass method, the boundary coupling conditions are used to introduce the tension effect generated by the head end of towed cable into the 6-degrees-of-freedom equations of motion of underwater vehicle, and the coupling motion models of towed cable and ship are established. The influence of towed cable on the maneuvering performance of straight sailing, rotary motion and dive movement of underwater vehicle is compared and analyzed through numerical simulation. The numerical analysis results show that the speed of underwater vehicle during straight sailing, rotary motion and dive movement is reduced after the underwater vehicle is equipped with towed cable. When the underwater vehicle rotates, the towed cable reduces the radius of gyration. When the underwater vehicle dives, the towed cable reduces the dive stability of underwater vehicle and the absolute value of ballistic inclination of underwater vehicle, thus increasing the distance to the predetermined depth, and at the same time, the time for the underwater vehicle to reach the predetermined depth increases due to the reduction of speed, which also reduces the dive performance of underwater vehicle.
作者
杜晓旭
张小链
DU Xiaoxu;ZHANG Xiaolian(School of Marine Science and Technology, Northwestern Polytechnical University, Xi an 710072, Shaanxi, China)
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2019年第7期1476-1484,共9页
Acta Armamentarii
基金
国家自然科学基金项目(11302176)
陕西省自然科学基础研究计划项目(2017JM1034)
关键词
海洋拖曳系统
水下航行器操纵性
耦合运动模型
集中质量法
underwater towed system
maneuverability of underwater vehicle
coupling motion model
lumped mass method
