拖缆对水下航行器的操纵性能影响

doi:10.3969/j.issn.1000-1093.2019.07.018

兵工学报 ›› 2019, Vol. 40 ›› Issue (7): 1476-1484.doi: 10.3969/j.issn.1000-1093.2019.07.018

拖缆对水下航行器的操纵性能影响

杜晓旭，张小链

(西北工业大学航海学院, 陕西西安 710072)

收稿日期:2018-09-28 修回日期:2018-09-28 上线日期:2019-09-03
作者简介:杜晓旭（1981—），男，副教授，硕士生导师。E-mail：nwpudu@163.com；
张小链（1995—），男，硕士研究生。E-mail：cszxl@mail.nwpu.edu.cn
基金资助:
国家自然科学基金项目（11302176）；陕西省自然科学基础研究计划项目（2017JM1034）

Influence of Towed Cable on Maneuverability of Underwater Vehicle

DU Xiaoxu， ZHANG Xiaolian

(School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China)

Received:2018-09-28 Revised:2018-09-28 Online:2019-09-03

摘要/Abstract

摘要： 为探究拖缆对水下航行器的操纵性能影响，基于集中质量法建立了拖缆的动力学方程，利用边界耦合条件，将拖缆首端产生的张力影响计入水下航行器的六自由度运动方程组，建立了拖缆-水下航行器耦合运动模型。通过数值仿真计算，对比分析了拖缆对航行器直航、回转和下潜运动时的操纵性能影响。数值分析结果表明：航行器加装拖缆后，航行器在直航、回转和下潜运动时的速度有所降低；航行器回转运动时，拖缆会减小回转半径；航行器下潜运动时，拖缆降低了航行器的下潜稳定性，且减小了航行器弹道倾角的绝对值，增大了航行器达到预定深度的距离，同时由于航速降低，导致航行器达到预定深度的时间会增加，从而也降低了航行器下潜性能。

关键词: 海洋拖曳系统, 水下航行器操纵性, 耦合运动模型, 集中质量法

Abstract: In order to explore the impact of towed cable on the maneuverability of underwater vehicle, a dynamic equation of the towed cable is established based on the lumped mass method, the boundary coupling conditions are used to introduce the tension effect generated by the head end of towed cable into the 6-degrees-of-freedom equations of motion of underwater vehicle, and the coupling motion models of towed cable and ship are established. The influence of towed cable on the maneuvering performance of straight sailing, rotary motion and dive movement of underwater vehicle is compared and analyzed through numerical simulation. The numerical analysis results show that the speed of underwater vehicle during straight sailing, rotary motion and dive movement is reduced after the underwater vehicle is equipped with towed cable. When the underwater vehicle rotates, the towed cable reduces the radius of gyration. When the underwater vehicle dives, the towed cable reduces the dive stability of underwater vehicle and the absolute value of ballistic inclination of underwater vehicle, thus increasing the distance to the predetermined depth, and at the same time, the time for the underwater vehicle to reach the predetermined depth increases due to the reduction of speed, which also reduces the dive performance of underwater vehicle. Key

Key words: underwatertowedsystem, maneuverabilityofunderwatervehicle, couplingmotionmodel, lumpedmassmethod

中图分类号:

TJ630.2

杜晓旭，张小链. 拖缆对水下航行器的操纵性能影响[J]. 兵工学报, 2019, 40(7): 1476-1484.

DU Xiaoxu， ZHANG Xiaolian. Influence of Towed Cable on Maneuverability of Underwater Vehicle[J]. Acta Armamentarii, 2019, 40(7): 1476-1484.

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拖缆对水下航行器的操纵性能影响

Influence of Towed Cable on Maneuverability of Underwater Vehicle

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