扁平潜器前进与倒航稳定性评估

基于现有条件和针对扁平潜器的特点,由拖曳水池模型试验确定了攻角、漂角水动力,用经验方法近似估算了旋转水动力.用所得到的线性水动力系数,按照线性稳定性理论方法评估了扁平潜器正航和倒航下水平面、垂直面内的运动稳定性.将正航下水平面、垂直面内的运动稳定性计算结果与资料中类似的扁平潜器进行了比对分析,结果表明两者具有相同的稳定性特征,即垂直面内具有运动稳定性,而水平面内不具有航向稳定性.最后采用主推进器PD控制方法,用非线性运动模型数值仿真计算了主推进器控制作用下扁平潜器的运动.仿真计算结果表明,除了水平面倒航运动外,垂直面正航与倒航、水平面正航运动都可以通过主推进器的控制实现扁平潜器的运动控制.仿真计算结果还表明,在相同的PD控制参数下,航速愈低倒航对深度响应时间愈长.

Stability evaluation for submersible with elliptical section in forward and back maneuvers

Based on the existing condition and characters of the submersible, the hydrodynamic coefficients of attacking angle and drifting angle are obtainedfrom Oblique Test, and the empirical formulation is used to estimate the rotating hydrodynamic coefficients. With these linear hydrodynamic coefficients, the submersible stability is evaluated in its forward and back motion by the linear stability (theo)ry. The evaluation results show that the submersible body is stable under its horizontal motion and instable under vertical motion. These stability evaluation results have the same characteristics under forward motion with that of other submersible body issued by Chiu. In order to evaluate the controllability, simulations of the submersible motion controlled by the main thruster with the PD method are conducted. The simulation results show that the submersiblecan be controlledwell except for the back manoeuvreunder the horizontality.