无人潜航器上浮运动模型及其DOE分析

针对充气式浮囊无人潜航器的充气上浮过程展开研究，重点分析浮囊充气过程对无人潜航器运动过程的影响。首先，对无人潜航器上浮过程进行受力分析，建立了潜航器停车后的运动模型，并以浮囊的延迟充气时间和充气过程时间为影响潜航器运动过程的关键设计因子，以无人潜航器运行的最大深度和浮囊所受的最大阻力为设计目标，开展了潜航器运动过程DOE（design of experiment，试验设计）分析。通过分析得到了浮囊的延迟充气时间和充气过程时间与无人潜航器的最大深度和浮囊所受的最大阻力的关系，同时得到了设计因子交互效应和主效应曲线，以及相关性图和Pareto图。通过模型分析，明确了浮囊的延迟充气时间为影响无人潜航器上浮运动过程的主要因素，为无人潜航器的浮囊式上浮装置的理论研究和工程设计提供了参考。

The model and DOE analysis of UUV floating movement

The inflatable floating process of UUV (unmanned undersea vehicle) with inflatable floating bag was studied, aiming to analyze the influence of the inflation progress on the movement of UUV. Firstly, force analysis of the UUV in the floating movement was carried out and a movement model of the UUV after the engine shut down was established. Then, taking the delay inflation time and inflation progress time as the key design factors, and the maximum depth of the UUV and the maximum resistance force of the floating bag as the design targets, the DOE(design of experiment) analysis of the movement process of the UUV was carried out. The relationship between the maximum depth of UUV and maximum resistance force of inflatable floating bag and the delay inflation time and inflation progress time was obtained by the analysis. In addition, the interaction effect curve, main effect curve and the correlation diagram and Pareto figure of design factors were obtained. Through the model analysis, it is clear that the delayed inflation time of the inflatable floating bag is the main factor affecting the floating movement of UUV, which provides a reference for the theoretical research and engineering design of the floating device with floating bag of UUV.