嵌套Z轴式水下矢量推进系统建模与特性分析

张雷,徐海军,邹腾安,徐小军,常雨康

Modeling and property analysis of underwater vector propulsion system based on nested Z-shafts

Lei ZHANG,Hai-jun XU,Teng-an ZOU,Xiao-jun XU,Yu-kang CHANG

表 1 理论计算及联合仿真结果对比

Tab.1 Comparison of theoretical calculation and joint simulation results

目标点 xd xr yd yr α/(°) β/(°) 1 0.100 0.092 0.100 0.109 2.103 2.642 2 0.300 0.306 0.400 0.414 0.706 –2.585 3 –0.400 –0.410 –0.150 –0.150 –1.344 0.686 4 –0.400 –0.398 0.300 0.319 –0.848 2.180 5 0 0.005 0.500 0.514 0.066 3.080