基于Kane方法的波浪驱动水下航行器动力学模型建立

doi:10.3969/j.issn.1000-1093.2016.07.011

兵工学报 ›› 2016, Vol. 37 ›› Issue (7): 1236-1244.doi: 10.3969/j.issn.1000-1093.2016.07.011

基于Kane方法的波浪驱动水下航行器动力学模型建立

杜晓旭¹，崔航¹, 向祯晖²

(1.西北工业大学航海学院, 陕西西安 710072; 2.昆明船舶设备集团有限公司，云南昆明 650051)

收稿日期:2015-12-21 修回日期:2015-12-21 上线日期:2016-09-05
作者简介:杜晓旭（1981—）男副教授，硕士生导师
基金资助:
国家自然科学基金项目（11302176）；高等学校博士学科点专项科研基金项目（20126102120021）；中央高校基本科研业务费基础研究项目（3102014JCQ01006）

The Multi-body System Dynamics Modeling of Wave-driven Underwater Vehicle Based on Kane Method

DU Xiao-xu¹, CUI Hang¹, XIANG Zhen-hui²

(1.School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China;2.Kunming Shipbuilding Equipment Co., Ltd, Kunming 650051, Yunnan, China)

Received:2015-12-21 Revised:2015-12-21 Online:2016-09-05

摘要/Abstract

摘要： 基于多体系统动力学理论，定义并选取适当的坐标系和广义坐标，对波浪驱动水下航行器多体系统进行运动学分析，得到各部分的速度和加速度；基于Kane方法进行动力学分析，计算各部分的偏速度和偏角速度，进而求得系统的广义主动力和广义惯性力。将系统的广义惯性力和广义主动力代入Kane方程中，得到波浪驱动水下航行器多体系统动力学模型。在受力分析中，不仅考虑了惯性力、惯性力矩、重力和浮力以及流体动力，还重点分析了波浪力和多体系统的附加质量力。对波浪驱动水下航行器进行了运动仿真，仿真结果显示航行器航行稳定，所建立的模型是有效的。

关键词: 兵器科学与技术, Kane方程, 波浪驱动水下航行器, 多体系统动力学

Abstract: A coordinate system for wave-driven underwater vehicle is defined based on multi-body system dynamics theory. The kinematics analysis of the whole system is performed by choosing the appropriate generalized coordinates, while the velocities and acceleration are deduced, and the expressions of partial velocities and partial angular velocities are deduced based on Kane’s method according to the dynamic analysis of the whole system. The generalized inertial force and generalized active force of the whole system are calculated. A multi-body system dynamics model of wave-driven underwater vehicle is established by taking the calculated results into the Kane’s equations. The force analysis of the proposed model focuses on the wave force and the additional mass force of multi-body system besides inertia force, inertia moment, gravity, buoyancy and hydrodynamic forces. The wave-driven underwater vehicle is simulated. The simulated results show that the proposed modeling method is valid.

Key words: ordnance science and technology, Kane equation, wave-driven underwater vehicle, multi-body system dynamics

中图分类号:

TJ630.1

杜晓旭，崔航, 向祯晖. 基于Kane方法的波浪驱动水下航行器动力学模型建立[J]. 兵工学报, 2016, 37(7): 1236-1244.

DU Xiao-xu, CUI Hang, XIANG Zhen-hui. The Multi-body System Dynamics Modeling of Wave-driven Underwater Vehicle Based on Kane Method[J]. Acta Armamentarii, 2016, 37(7): 1236-1244.

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基于Kane方法的波浪驱动水下航行器动力学模型建立

The Multi-body System Dynamics Modeling of Wave-driven Underwater Vehicle Based on Kane Method

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