Dynamic modeling and stability analysis for underwater craft with wing
-
摘要: 带翼潜航器具有面积较大的升力面,滚转运动是带翼潜航器的基本机动方式之一.利用计算流体力学(CFD,Computational Fluid Dynamics)方法研究了带翼潜航器的动导数,计算结果表明:粘性力以及主翼对机体和尾翼的干扰对加速度导数影响较大,不能将加速度导数简化为附加质量系数.带翼潜航器水动力模型直接采用加速度导数,动力学和运动学方程组考虑滚转运动参数的影响.利用小扰动假设将动力学和运动学方程组线性化,并将方程组分为纵向和横航向两组.通过计算扰动运动方程组的模态研究了带翼潜航器的动稳定性.提出的动力学模型及动稳定性分析方法可用于带翼潜航器的稳定性分析以及运动控制系统的设计.Abstract: The underwater craft with wing has a large lifting surface. The rolling movement is one of its basic maneuver models. The dynamic derivatives of an underwater craft with wing were studied using the computational fluid dynamics(CFD) method. The result shows that the viscous force and the interference of the wing on the body and the tail are important for the acceleration derivatives in the heave, roll, and pitch directions. The acceleration derivatives could not be simplified as additional mass coefficients. The dynamic and kinematics equations were linearized using the small disturbance hypothesis. The equations were divided into longitude and lateral-directional equations. The dynamic stability of an underwater craft was studied by calculating the modes of the small disturbance equations. The dynamic model and stability analysis method could be used for dynamic stability analysis and motion control system design for the underwater craft with wing.
-
Key words:
- underwater craft /
- dynamic model /
- dynamic stability /
- dynamic derivatives /
- mode
-
[1] 李晔,刘建成,徐玉如.带翼水下机器人运动控制的动力学建模[J].机器人,2005,27(2):128-131 Li Ye, Liu Jiancheng, Xu Yuru.Dynamics modeling for motion control of underwater craft with wing[J].Robot,2005,27(2):128-131(in Chinese) [2] 边宇枢,高志慧,贠超.6自由度水下机器人动力学分析与运动控制[J].机械工程学报,2007,43(7):87-92 Bian Yushu,Gao Zhihui,Yun Chao.Dynamic analysis and motion control of 6-DOF underwater robot[J].Chinese Journal of Mechanical Engineering,2007,43(7):87-92(in Chinese) [3] Graver J G.Underwater gliders:dynamics,control and design[D].Princeton:Department of Mechanical and Aerospace Engineering,Princeton University,2005 [4] B埃特肯.大气飞行动力学[M].何植岱译.北京:科学出版社,1979:278-286 B Etkin. Dynamics of atmospheric flight[M].Translated by He Zhidai.Beijing:Science Press,1979:278-286(in Chinese) [5] 施生达.潜艇操纵性[M].北京:国防工业出版社,1995:11-14 Shi Shengda.Submarine maneuverability[M].Beijing:National Defense Industry Press,1995:11-14 (in Chinese) [6] 李刚,段文洋,郭志彬.复杂构型潜器附加质量的研究[J].哈尔滨工业大学学报,2010,42(7):1145-1148 Li Gang,Duan Wenyang,Guo Zhibin.Added mass of submerged vehicles with complex shape[J].Journal of Harbin Institute of Technology,2010,42(7):1145-1148(in Chinese) [7] 方振平,陈万春,张曙光.航空飞行器飞行动力学[M].北京:北京航空航天大学出版社,2005:223-224 Fang Zhenping,Chen Wanchun,Zhang Shuguang.Aircraft flight dynamics[M].Beijing:Behang University Press,2005:223-224(in Chinese) -
点击查看大图
计量
- 文章访问数: 1251
- HTML全文浏览量: 67
- PDF下载量: 617
- 被引次数: 0
下载:
