半潜式航行器运动特性研究

摘要

论文研究了半潜式航行器的运动特性，建立了半潜式航行器的运动学模型，并从深度控制和回转航行两个方面对半潜式航行器的运动特性进行半实物仿真。半实物仿真结果表明：前水平舵是影响深度控制的主要因素，并得出前水平舵舵角和深度的对应关系；回转航行研究了航行器的垂直舵角、航速和回转半径的关系，得出了在一定航速下，不同垂直舵角下的回转半径。此研究准确把握了半潜式航行器的运动规律，为半潜式航行器的设计以及精确控制提供了理论基础。%The paper researched on motion characteristics of semi‐submersible vehicles ,set up its kinematic model ,and made a hardware‐in‐the‐loop simulation form two aspects of depth control and rotary navigation .Simulation results showed that the former level rudder was a major cause which influenced depth control ,and obtained the corresponding relationships of the former level rudder and depth control .Rotary navigation studied the relationship of vertical rudder angle and speed and radius of gyration ,which knew radius of gyration when the vertical rudder angle was changed under a certain speed .This work accurately mastered motion of semi‐submersible vehicles ,and laid a foundation for mechanism design and accurate con‐trol of semi‐submersible vehicles .