大型深海<strong>AUV</strong>无动力螺旋下潜运动特性分析

大型深海AUV无动力螺旋下潜运动特性分析

高伟,张玮,谷海涛,孟令帅,高浩,赵志超

Analysis of motion characteristics of large deep-sea AUV unpowered spiral diving

Wei GAO,Wei ZHANG,Hai-tao GU,Ling-shuai MENG,Hao GAO,Zhi-chao ZHAO

表6 大型深海AUV水动力系数计算结果

Table 6 Calculation results of hydrodynamic coefficient of large deep-sea AUV

水动力系数	量值
黏性水动力相关系数	$\begin{array}{l} K_{D_{0}} = - 194.004 3 k g / m \\ K_{D} = - 4 353.732 4 k g / (m \cdot r a d^{2}) \end{array}$
	$K_{β} = - 5 707.978 0 k g / (m \cdot r a d)$
	$\begin{array}{l} K_{L_{0}} = - 9.197 3 k g / m \\ K_{L} = - 8 486.898 8 k g / (m \cdot r a d) \end{array}$
黏性水动力矩相关系数	$\begin{array}{l} K_{M Y} = - 1 323.630 1 k g / r a d \\ K_{p} = - 5 292.450 4 k g \cdot s / r a d \end{array}$
	$\begin{array}{l} K_{M_{0}} = 206.040 2 k g \\ K_{M} = - 15 338.366 7 k g / r a d \\ K_{q} = - 170 274.832 3 k g \cdot s / r a d^{2} \end{array}$
	$\begin{array}{l} K_{M Z} = 11 491.559 6 k g / r a d \\ K_{r} = - 114 417.337 7 k g \cdot s / r a d^{2} \end{array}$
加速度相关系数	$\begin{array}{l} X_{\dot{u}} = - 2 707.241 4 k g \\ Y_{\dot{v}} = - 5 838.787 5 k g \\ Y_{\dot{r}} = 30 017.879 7 k g \cdot m / r a d \\ Z_{\dot{w}} = - 10 159.604 0 k g \\ M_{\dot{w}} = 42 912.398 6 k g \cdot m \\ M_{\dot{q}} = 444 749.939 5 k g \cdot m^{2} / r a d^{2} \\ N_{\dot{v}} = - 28 035.394 1 k g \cdot m \\ N_{\dot{r}} = - 269 033.762 9 k g \cdot m^{2} / r a d \end{array}$
舵角相关系数	$\begin{array}{l} {X_{δ_{b}}}_{δ_{b}} = - 799.853 6 k g / m \\ {X_{δ_{s}}}_{δ_{s}} = - 461.005 4 k g / m \\ {X_{δ_{r}}}_{δ_{r}} = - 489.803 1 k g / m \\ Y_{δ_{r}} = - 1 098.460 8 k g \cdot m / r a d^{2} \\ Z_{δ_{b}} = - 2 373.612 2 k g / (m \cdot r a d) \\ Z_{δ_{s}} = - 1 129.144 6 k g / (m \cdot r a d) \\ M_{δ_{b}} = 15 443.455 8 k g / r a d \\ M_{δ_{s}} = - 8 494.593 7 k g / r a d \\ N_{δ_{r}} = 7 819.812 8 k g / r a d \end{array}$