华中科技大学学报（自然科学版）Issue(z1)：452-456,5.DOI:10.13245/j.hust.15S1108
六自由度水下航行器操纵性仿真及性能评估
Maneuverability simulation and performance evaluation of six degrees of freedom underwater vehicle
摘要
Abstract
To forecast the maneuverability and motion control performance of the underwater vehicle, a motion model with six degrees of freedom was built based on the standard Gertler motion equations where the hydrodynamic coefficients were obtained from towing tank tests.A motion simulation sys-tem was constructed and five typical maneuvering patterns in horizontal and vertical planes were simu-lated,such that the maneuverability of the underwater vehicle prototype was forecasted.The simula-tion results show that the underwater vehicle has good steering and rotation performance,together with good maneuverability and stability.By compared with the simulation results based on the classi-cal Nomoto model,it verifies the accuracy of the proposed method.The good maneuverability of the designed prototype indicates that it can be used as a motion testing platform for the intelligent control system of the underwater vehicle.关键词
水下航行器/六自由度/运动模型/操纵性/性能评估Key words
underwater vehicle/six degrees of freedom(6DOF)/motion model/maneuverability/per-formance evaluation分类
信息技术与安全科学引用本文复制引用
戴君锐,向先波,于曹阳,熊恒..六自由度水下航行器操纵性仿真及性能评估[J].华中科技大学学报（自然科学版）,2015,(z1):452-456,5.基金项目
国家自然科学基金资助项目（51209100）；湖北省自然科学基金资助项目（2014CFB253）；高等学校博士学科点专项科研基金资助项目（20120142120045）；中央高校基本科研业务费专项基金资助项目（2015TS006）． （）
