碟形水下滑翔机动态稳定性建模仿真研究

碟形水下滑翔机是一种新型水下滑翔机，由于其机身与机翼紧密连接在一起形成类飞碟的流线型，该线型具有全向运动特性，因此碟形水下滑翔机具有极高的灵活性。针对碟形水下滑翔机这一特征，利用多体动力学对碟形水下滑翔机原理样机三维定常运动过程进行仿真，分析其三维动态稳定性的特征；通过直线定常运动和直线滑翔过程中转向运动的轨迹仿真结果可以看出，碟形水下滑翔机的运动轨迹特征与常规水下滑翔机相同，证实设计的碟形水下滑翔机原理样机的可行性。

Study of modeling and simulation of disc-underwater glider dynamic stability

Disc-underwater glider is a new type of underwater glider, since its fuselage and wings are connected together forming a kind of sleek flying saucer which has omnidirectional mobility, disc-underwater glider is very flexible. For this feature, three-dimensional unsteady motion of disc-underwater glider prototype is simulated and the characteristics of its three-dimensional dynamic stability is analyzed by use of multi-body dynamics. Track simulation results of linear steady motion and steering movements during linear gliding process show that the trajectory of the disc-underwater glider is same with conventional underwater glider, which confirms the feasibility of the self-designed disc-shaped underwater glider prototype.