变速鱼雷推进器动态模型理论研究

传统鱼雷推进器静态模型已无法满足变速鱼雷的建模需要，为了解决这一问题，在国内外学者研究的基础上，运用流体动力学方法，建立了鱼雷推进器比较精确的动态模型。该模型是以推进器来流速度和螺旋桨转速为状态变量，以电机施加转矩为输入，螺旋桨推力和转矩为输出的。

Dynamic Model of Thruster for Torpedoes with Speed Control

Previously the thrusters of torpedoes is described as static model,namely the thruster force is proportional to the square of surge speed.However this model is insufficient when we deal with the dynamic model of torpedoes whose surge speed is controlled by voltage or current of motor.To solve this problem,based on the former works of re- searchers,this paper proposes the accurate two-dimentiona nonlinear dynamic modal of thrusters.This model has ambi- ent axial fluid speed and propeller rotational velocity as two state variables,voltage or current of motor as inputs,and thuster force and torque as output.