潜艇在随机海浪中摇荡运动的仿真研究

该文采用PM随机海浪频谱来实时仿真长峰波随机海浪对潜艇的随机扰动，对潜艇在海浪中的横摇和纵摇运动进行了时域仿真，潜艇在海浪中的升沉运动则采用Hirom波浪力近似计算公式进行仿真计算。所采用的仿真方法已应用于六自由度潜艇操纵训练模拟器上，结果表明该方法能比较逼真地模拟各种海情下潜艇在海浪中的运动情况，仿真实时性好，仿真精度较高。

Simulation Study on Swaying Movement of a Submarine in Random Ocean Waves

The paper uses PM's wave-height energy spectrum to real-timely simulate a random disturbance on submarine by random waves with the same directs. It simulates roll and pitch of a submarine in random ocean waves in the time domain. To simulate the heaving motion of a submarine in random ocean, adopts Hirom wave force approximate calculation formula to do simulation calculation. This simulating method has been applied in six degrees of freedom submarine manipulation training simulator developed by ourselves. The result shows that this method can precisely simulate the motion of a submarine in all kinds of ocean conditions.