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摘要:
针对介质跨越航行器控制困难的问题，提出一种空中控制水下非控的单一控制策略；为了分析航行器非控状态下斜入水运动的规律，构建了航行器低速入水动力学模型，并分别使用数值仿真方法和理论模型求解方法进行同一条件下的航行体入水运动仿真，通过对2种方法的仿真结果对比验证本文所构建航行体斜入水动力学模型的正确性。利用构建的入水动力学模型，分别对不同初始速度、角度、攻角条件下的入水过程进行了运动状态仿真并分析，得出了航行体在入水运动过程中的姿态位置变化规律。此入水规律将指导介质跨越航行器后续的水下航行、进而出水的一系列研究。
Abstract:This paper proposes a single control strategy to solve the problem of difficult transmedia vehicle control. The proposed control strategy is just to control the vehicle's air navigation, but not to control the underwater navigation. The hydrodynamic model of a vehicle obliquely water-entry at low speed is founded to analyze the motion characteristics. Two methods are used to simulate the vehicle's water-entry in the same condition:numerical simulation method and theoretical model calculation method. And the results of the two methods can validate the hydrodynamic model founded in this paper. The water-entry movement in the conditions of different initial velocities, different angles, and different attack angles is simulated by this hydrodynamic model and the simulation is analyzed. And the change rule of the vehicle's gestures and position when water-entry is obtained by analysis. This water-entry rule will guide a series of follow-up researches, such as underwater navigation and water-exit process.
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Key words:
- water-entry movement /
- dynamic model /
- theoretical model calculation /
- ballistic trajectory /
- gesture
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图 3 CFD仿真得到的黏性流体动力系数与攻角、速度的关系
Figure 3. Relationship between dynamic coefficients of simulation by CFD and attack angle and speed
图 11 初始入水速度对质心运动轨迹的变化
Figure 11. Change of centroid trajectory under different initial water-entry velocities
图 12 初始入水速度对倾斜角度的变化
Figure 12. Change of inclination angle under different initial water-entry velocities
图 13 初始入水速度对攻角的变化
Figure 13. Change of attack angle under different initial water-entry velocities
图 14 初始入水速度对转动角速度的变化
Figure 14. Change of rotational angular velocity under different initial water-entry velocities
图 15 初始入水速度对轴向速度的变化
Figure 15. Change of axial velocity under different initial water-entry velocities
图 16 初始入水速度对径向速度的变化
Figure 16. Change of radial velocity under different initial water-entry velocities
图 17 初始入水角度对质心运动轨迹的变化
Figure 17. Change of centroid trajectory under different initial water-entry angles
图 18 初始入水角度对倾斜角度的变化
Figure 18. Change of inclination angle under different initial water-entry angles
图 19 初始入水角度对攻角的变化
Figure 19. Change of attack angle under different initial water-entry angles
图 20 初始入水角度对转动角速度的变化
Figure 20. Change of rotational angular velocity under different initial water-entry angles
图 21 初始入水角度对轴向速度的变化
Figure 21. Change of axial velocity under different initial water-entry angles
图 22 初始入水角度对径向速度的变化
Figure 22. Change of radial velocity under different initial water-entry angles
图 23 初始攻角对质心运动轨迹的变化
Figure 23. Change of centroid trajectory under different initial attack angles
图 24 初始攻角对倾斜角度的变化
Figure 24. Change of inclination angle under different initial attack angles
图 25 初始攻角对攻角的变化
Figure 25. Change of attack angle under different initial attack angles
图 26 初始攻角对转动角速度的变化
Figure 26. Change of rotational angular velocity under different initial attack angles
图 27 初始攻角对轴向速度的变化
Figure 27. Change of axial velocity under different initial attack angles
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