摘要
圆碟形水下滑翔机是一种新型的水下潜器,其全翼身外形使其具有全向运动特性。为了研究圆碟形对水下滑翔机运动性能的影响,本文基于动量(矩)定理建立圆碟形水下滑翔机的运动控制方程,采用四阶龙格-库塔法求解。分别对圆碟形水下滑翔机在垂直面内的直线运动、受外界小幅扰动运动和空间螺旋运动进行了仿真分析。仿真结果表明:圆碟形水下滑翔机的升阻比相比于鱼雷形水下滑翔机较高,其自身受到外界小幅扰动时具有一定的稳定性;空间螺旋运动的螺旋半径、螺距以及周期都远小于鱼雷形水下滑翔机,小空间内的机动能力得到了大幅提高。
A disc-type underwater glider is a new type of underwater vehicle with omnidirectional mobility due to its blended wing body. To study the effect of disc shape on the motion performance of the underwater glider,we established the motion control equation of a disc-type underwater glider based on momentum theorem( moment). Fourth-order Runge-Kutta method was adopted to solve the equation. The linear motion,small disturbance motion in vertical plane,and space spiral motion of the disc-type underwater glider were simulated. Simulation results show that the lift-drag ratio of the disc-type underwater glider is higher than that of other torpedo-type underwater gliders,and the disc-type underwater glider is stable to a certain extent when a small amplitude disturbance occurs in the environment. Furthermore,the space spiral motion radius,pitch,and cycle of the disc-type underwater glider are much less than those of the torpedo-type underwater glider. Thus,the maneuvering ability of the underwater glider in a small space is greatly improved.
作者
周晗
王天霖
于鹏垚
ZHOU Han;WANG Tianlin;YU Pengyao(School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China;School of Naval Architecture and Ocean Engineering,Dalian Maritime University,Dalian 116026,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2019年第4期696-702,共7页
Journal of Harbin Engineering University
基金
国家重点研发计划项目(2016YFC0301500)
国家自然科学基金项目(51379025
51709030)
辽宁省博士启动资金项目(20170520436)
关键词
圆碟形水下滑翔机
全翼身外形
运动控制方程
垂直面运动
小幅扰动
稳定性
螺旋运动
运动仿真
disc type underwater glider
blended wing body
motion control equation
vertical motion
stability
small amplitude disturbance
spiral motion
motion simulation
