Sensitivity Analysis of General Parameters for TurningPerformance of Autonomous Underwater Vehicle
LIU Yao1,2,ZHU Zhu1,2
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1.No.713 Institute of China Ship Industry Corporation,Zhengzhou 450015,China; 2.Henan Key Laboratory of Underwater Intelligent Equipment,Zhengzhou 450015,China
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History+
Received
Published
2019-01-22
2019-09-30
Issue Date
2024-06-29
Abstract
To study the effect of the change of general parameters on the motion stability of autonomous underwater vehicle’s turning performance,the sensitivity of general parameters of autonomous underwater vehicle was studied. The 6-DOF motion equations were established,and the three-dimensional motion model of underwater vehicle was built,and the turning pattern was numerically simulated by use of MATLAB/Simulink model,and the turning motion regulation was obtained. Taking turning performance of underwater vehicle as an example,the effects of general parameters such as buoyancy,the distance between gravity centre and buoyancy centre,the downward displacement of gravity centre and the lateral displacement of gravity centre on the turning velocity,turning angular-velocity,turning depth and turning space motion of underwater vehicle were numerically calculated and analyzed. The results show that the effect of buoyancy variation on motion performance of underwater vehicle is small; the variation of the distance between gravity centre and buoyancy centre can cause the change of pitch angle. The increase of downward displacement of gravity centre can improve the motion stability,but the increase of the lateral displacement of gravity centre can reduce the motion stability.
LIU Yao1,2,ZHU Zhu1,2.
Sensitivity Analysis of General Parameters for TurningPerformance of Autonomous Underwater Vehicle. Journal Of Ballistics. 2019, 31(03): 73-78 https://doi.org/10.12115/j.issn.1004-499X(2019)03-014
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References
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