鱼雷6自由度空间运动的矢量化模型与仿真

鱼雷是一个复杂的强耦合、非线性对象。以往的鱼雷运动方程由12个微分方程和3个几何方程组成，不便于在仿真中应用。该文根据动量定理和动量矩定理及运动学方程建立了鱼雷的矢量化6自由度空间运动模型，为仿真计算提供了方便。在此基础上利用MATLAB仿真软件建立了计算机仿真模型，其特点是按鱼雷运动方程的不同部分分别设计独立的模块，可读性高并易于修改。将该仿真模型与控制系统模型组成闭环仿真系统，结果表明该鱼雷仿真模型准确、高效，能够为鱼雷控制系统的设计、分析提供了良好的仿真条件。

6DOF Torpedo Model in Vector Form and Its Simulation

The torpedo is a complex, nonlinear and strongly coupling object. Formerly, the torpedo model includes 12 difference equations and 3 geometry equations, and is hard to be used in simulation. This paper introduces a compact torpedo model in vector form. Based on this model, we build a set of independent modules of torpedo with the Simulink Tools of MATLAB, and use this model in closed-loop simulation of torpedo control system. It is shown that this model is helpful in the processes of control system design and analysis.