半潜式航行体横滚调整方式分析

摘要

Semi-submersible underwater vehicle is an important part of remote mine-hunting system; its attitude and track matters a lot to the detecting precision of the system.In this paper,Dolphin semi-submersible underwater vehicle in the remote mine-hunting system of Canada is exampled to establish the movement equations of the vehicle and conduct a simulation analysis of the vehicle's attitude and track error under different depths and speeds respectively when using diving rudder after and vrudder after to adjust the roll of the vehicle,which provides a basis for the actual control of vehicle.The results of simulation shows that the respective ability of diving rudder differential and vertical rudder differential in adjusting the rolling attitude of the vehicle are basically same and the track of the vehicle is sensitive to the vertical rudder differential.Therefore,it is recommended that adjust the rolling attitude of the vehicle with diving rudder differential and the vertical rudder differential be used only for direction control.%半潜式航行体是遥控猎雷系统的重要组成部分,其姿态和航迹对系统探测精度影响较大.本文以加拿大遥控猎雷系统中的“海豚”半潜式航行体作为原型,建立其运动方程组,分别在不同航行深度和不同航速下对后水平舵板调整航行体横滚和垂直舵板调整航行体横滚时航行体的姿态和航迹偏差进行仿真分析,为航行体实际控制提供控制依据.仿真结果表明:水平舵差动和垂直舵差动对航行体横滚姿态调整能力基本相同,航行体航迹偏差对垂直舵差动敏感.因此建议采用水平舵差动方式来调整航行体横滚,垂直舵只做航向控制.