QQ客服 官方微博 反馈留言

	水下滑翔机三维定常运动建模与分析
	赵宝强 ; 王晓浩 ; 姚宝恒 ; 连琏 ; 曹俊亮 ; ZHAO Bao-qiang ; WANG Xiao-hao ; YAO Bao-heng ; LIAN Lian ; CAO Jun-liang
	2016-03-30 ; 2016-03-30
关键词	水下滑翔机 定常运动 数学建模 仿真 underwater glider steady motion mathematical modeling simulation U674.94
其他题名	Three-Dimensional Steady Motion Modeling and Analysis for Underwater Gliders
中文摘要	针对水下滑翔机运动过程中的特点,水下滑翔机实际运动过程可以分为定常运动段和非定常运动段,对自设计的水下滑翔机原理样机建立了基于单刚体六自由度的定常运动段的数学模型并进行了数值仿真,在此基础上分别对水下滑翔机运动过程中的两种定常运动—直线定常运动和螺旋定常运动进行了分析。结论显示在直线定常运动中俯仰角和攻角随平移质量块位置的增大先变化迅速后变化缓慢。滑翔角随平移质量块位置的增大近似呈线性增大的关系。在螺旋定常运动中通过模型仿真得到螺旋运动特征参数(螺旋半径、螺旋线螺距、螺旋时间周期、速度)和状态参数(滑翔角、翻滚角、各方向速度分量、各方向角速度分量),根据最小二乘法拟合得到它们之间的关系,从而说明了螺旋运动状态是如何通过调整平移质量块移动距离,旋转质量块旋转角度和净重力等控制量而变化的。; According to its characteristics in underwater movement, the actual moving process of an underwater glider can be divided into the steady motion and unsteady motion. For a newly-designed underwater glider prototype, a mathematical model is established and the numerical simulation is conducted based on the steady motion of a single rigid body with six degree freedom. Then the two kinds of steady motion of an underwater glider, the linear steady motion and spiral steady motion, are respectively analyzed. Results indicate that in the linear steady motion, both the pitch angle and attack angle vary fast first and then slowly, and the glide angle shows an approximately linear increase as the moving mass moves forward. In the spiral steady motion, key parameters can be obtained through model simulation, which consists of characteristic parameters, including spiral radius, pitch, spiral cycle period and velocity; and state parameters, like glide angle, roll angle, as well as velocity and angular velocity components in different directions. The relationship between them can be estimated by the Generalized Least Square method, thus indicating the regularity of spiral motion state change by the adjustment of a series of controlled variables, such as the moving distance of the moving mass, the rotation angle of the rotating mass and the net gravity.
语种	中文 ; 中文
内容类型	期刊论文
源URL	[http://ir.lib.tsinghua.edu.cn/ir/item.do?handle=123456789/144563]
专题	清华大学
推荐引用方式 GB/T 7714	赵宝强,王晓浩,姚宝恒,等. 水下滑翔机三维定常运动建模与分析[J],2016, 2016.
APA	赵宝强.,王晓浩.,姚宝恒.,连琏.,曹俊亮.,...&CAO Jun-liang.(2016).水下滑翔机三维定常运动建模与分析..
MLA	赵宝强,et al."水下滑翔机三维定常运动建模与分析".(2016).

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。