潜艇在海洋密度锋中受绕运动建模与仿真研究

根据分析潜艇通过海洋密度锋区的受力特点,建立潜艇在海洋密度锋中的受力和垂直面运动模型。通过潜艇垂直面运动仿真,分析自由运动、PID操舵控制、操舵加均衡控制和综合运用增速、操舵加均衡控制等情形下海洋密度锋对潜艇纵倾角、潜浮角和升沉运动的影响,结果表明综合运用操舵、增速和均衡进行控制可以更为有效地控制潜艇在海洋锋区航行深度和运动姿态。

Modeling and Simulation of Disturbed Movement of Submarine in Ocean Front of Seawater Density

Based on the analysis of the character of interaction,the motion and forces models of submarine coming through the ocean front were established.Through simulation of submarine vertical motion(include free motion,PID control,PID control and equilibrium,etc),the influence of ocean front for pitch and heave motion was analyzed.The result indicated that colligating PID control,increasing speed and equilibrium can effective control depth and motion gesture of submarine sailing in ocean front.