潜艇水下六自由度运动仿真数学模型

潜艇水下运动是多姿态的三维空间运动。计算机仿真要对其进行比较准确的描述和对运动状态进行动态仿真研究,其关键技术是建立潜艇空间运动方程。该文在描述潜艇水下运动的基础上,建立了可用于非线性修正的潜艇三维空间运动方程。经过必要的数理解推理,定量确认了模型的有效性。最后,以某潜艇为例,研究了该型潜艇水下运动规律和操纵特点。

Mathematical Model of Submarine Underwater 6D Motion Simulation

The submarine underwater motion is the multi-stance 3D movement. It requires quite exact description and dynamic simulation research. The key technology is creating submarine motion equation. This paper presents the amendatory nonlinear 3D equation Of submarine motion based on describing submarine underwater motion,and then affirms the validity of model by mathematical and physical inference. Finally, taking a certain submarine as an example, the paper researches the rule of submarine underwater motion and operation characteristic.