海况干扰下潜艇六自由度运动分析

摘要

In order to compensate for the limitations of actual conditions in sea experiments, and to test on land the equipment that can be affected in a submarine motion, in this paper, we investigate a six-degree-of-freedom motion of submarines, including the submarine’ s direct navigation and turning movements in still water and the marine en-vironment. By analyzing the force of a moving submarine using the basic model of ocean waves and currents, we es-tablished a six-degree-of-freedom motion equation of submarines under ocean wave disturbance. Based on a subma-rine’ s hydrodynamic coefficients, which we collected and then corrected in our experiments, we could determine the submarine’ s line and angular movements, and could thus analyze its direct and turning movements. Simulation results can realistically reflect the interference in the movement of submarines in the marine environment, and thus meet the need in practical engineering to test equipment.%为了弥补实际海试条件的局限性，辅助实现陆上鉴定敏感潜艇运动的导航系统设备的性能，本文对潜艇六自由度运动规律进行了研究，包括静水以及海洋环境干扰下潜艇的直航和回转运动。通过分析潜艇运动时所受的力及力矩，以及海浪、海流的基本模型，建立海洋环境干扰下的潜艇六自由度运动方程。针对潜艇的线运动、角运动相关信息，结合已有的经过实际试验修正的某潜艇的部分水动力系数，对其直航、回转运动进行了研究分析，仿真结果能够较为真实地反应潜艇在海洋环境干扰下的运动情况，满足实际工程中辅助测试的需求。