超高速水下航行器纵平面运动特性分析

超高速水下航行器运行于巡航阶段时，由于大部分表面被超空泡所包覆，其运动模式完全不同于常规的全沾湿水下航行器，表现出独有的运动特性。为了对超高速水下航行器实施深度和姿态控制，研究其纵平面运动特性是必要的。该文从超高速水下航行器流体动力产生的机理出发，分析了其力学特性，建立了航行器纵平面运动方程，分析了其欠阻尼运动特性，指出了运动控制中攻角不得超限的关键问题，给出了控制作用不能太强的建议，以上分析结论可为超高速水下航行器控制系统设计提供参考。

Motion Characteristics on Vertical Plane of Superspeed Underwater Vehicle

When a superspeed underwater vehicle runs in cruise phase, its motion mode is different from that of a usual bedewed vehicle because a majority of its surface is surrounded by supereavitation. Therefore, its motion characteristics are unique. In or- der to control the depth and the attitude of this kind of superspeed underwater vehicle, it is necessary to investigate the motion characteristics of the vehicle on a vertical plane. This paper analyzed the hydrodynamic characteristics of the vehicle based on the hydrodynamic mechanism, and established a motion model of the vehicle on a vertical plane. It also analyzed the motion characteristics with lack of damp, and presented a key problem that the attack angle is not allowed to exceed the bound in control process. It was suggested that the control force should not be too violent. The research may be useful for designing the control system of a superspeed underwater vehicle.