水下航行器机动性优化设计的模型研究

基于水下航行器纵向扰动方程和分离式水动力数学模型(MMG分离模型)，推导了操纵性与鳍舵升力系数和鳍舵距浮心的距离之间的关系，在此基础上提出了一种水下航行器机动性优化的新模型。这种模型和传统的模型相比的优越性在于它最终给出的不是确定的鳍舵形状，而是在一定条件下可调的鳍舵形状，具有更大的灵活性和适应性。

An Optimal Model of Maneuverability for an Autonomous Under-Water Vehicle

In order to improve the maneuverability, flexibility and controllability of Autonomous Under water Vehicle (AUV), we need to obtain the optimal model of AUV. Based on the under water longitudinal disturbance equation, shell stability and maneuverability of AUV, an optimal model of AUV maneuverability is presented (Eq.19). The relationship among its maneuverability, the coefficient of fin rub and the distance from fin rub to the center of the buoyancy is derived and given in Eqs.(21) and (22) by using MMG separation model. The advantage of the new model is that it allows two out of four parameters for the four fin rubs to be adjusted to meet the performance requirements of AUV. Coumpared with the traditional maneuverability model, the new optimal model can provide an adjustable fin rub shape under a given condition instead of a deterministic fin rub shape. The simulation result as given in Fig.1 shows that the new model is valid with satisfactory precision.