Development of the Equations of Motion and Transfer Functions for Underwater Vehicles.

摘要

Derivation of the linear,small-perturbation equations of motion for underwater vehicles is presented. These equations include the inertial,hydrodynamic,and gravity-buoyancy forces and moments. Necessary assumptions are introduced to linearize the equations and decouple the longitudinal from the lateral motions. Solutions to the equations are obtained by Laplace transform techniques. Complete expressions for the transfer functions are given in terms of the hydrodynamic coefficients. An example problem is presented to provide typical values for the characteristic vehicle motions. (Author)