拖曳系统的水翼控制运动模型及仿真

针对水下拖曳系统深度难以实现精确控制的问题,提出并建立了基于水翼控制的水下拖曳系统运动模型,其中拖缆和拖体的动力学模型分别采用了有限差分法和水下运载器的六自由度运动方程。在此基础上,使用数值计算方法,实现了水下拖曳系统三维的运动响应分析,并运用PID方法控制水翼攻角,达到了对拖体目标深度的控制。仿真结果验证了这一运动模型的正确性,为进一步实现水下拖曳系统在各种复杂的海洋环境和船舶机动影响下的定深控制研究奠定了理论基础。

Mathematical model and numerical simulation of underwater towed system with control fins

It is hard to control the underwater towed system accuracy in ocean environment. In this paper, a mathematical model of underwater towed system is developed based on the control fins. In the model, the governing equation of tow cable is established based on the finite difference method. The six-degrees-of-freedom equations of motion for submarine are adopted to predict the hydrodynamic performance of a towed body. The established mathematical model is then solved using numerical method. Using this model, we can predict the behavior of towed system in three-dimensions, and the depth of towed system can be control at aim depth accuracy. The results of the numerical simulation indicate that the mathematical model is valid. The model can be used as a basis for controlling the towed system under the effect of ocean environment disturbances and towing ship turning maneuvers.