CN106326598B - A kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider - Google Patents
A kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider Download PDFInfo
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Abstract
The invention discloses a kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider, include the following steps: the zero dimension hydrodynamic force coefficient for obtaining the disc-shaped underwater glider；Three-dimensional coordinate system is built, and according to the body coordinate system, establishes course coordinate system in conjunction with the disc-shaped underwater glider linear velocity at current time body coordinate system coordinate origin；The viscous hydrodynamic forces computation model of the disc-shaped underwater glider is established under the course coordinate system；The disc-shaped underwater glider viscous hydrodynamic forces under the course coordinate system are converted to the disc-shaped underwater glider viscous hydrodynamic forces under the body coordinate system using coordinate conversion matrix；The present invention can satisfy the movement characteristic that disc-shaped underwater glider can be navigated by water along any direction of disc-shaped shell surrounding, and then the viscous hydrodynamic forces convenient for reasonably forecasting disc-shaped underwater glider, be conducive to the movenent performance research of disc-shaped underwater glider.
Description
Technical field
The present invention relates to the hydrodynamic calculation method of submarine navigation device, specially a kind of viscosity of disc-shaped underwater glider
Hydrodynamic calculation method.
Background technique
The one kind of underwater glider as the latent device of underwater unmanned probing, compared with traditional unmanned submersible, by changing
Become the mode of itself net buoyancy to provide driving force, there are the advantages such as energy consumption is small, voyage is long, good concealment and manufacturing cost are low,
Thus domestic and international related personnel is attracted largely to study.Currently, the underwater glider for having a plurality of maturations in the prior art is asked
Generation, such as electric drive type aerodone Slocum Electric Glider, the University of Washington of the development of Teledyne Webb company
The institute of oceanography underwater glider Seaglider and Scripps and the ocean Woods Hole that Experiment of Applied Physics room is developed
The underwater glider Spray etc. that research institute develops jointly.
Traditional shape underwater glider usually has head, fuselage and wing, and along substantially square pointed by head
To navigation.When using buoyancy-driven mode merely, traditional shape underwater glider can only generally do zigzag and spiral shell under water
Rotary track movement is revolved, the radius of gyration is larger, and the flexibility of manipulation is poor.Disc-shaped underwater glider has axisymmetric geometry
Shape can realize 360 degree of turning functions of zero power test, zero radius of gyration, the mobility of underwater glider be improved, using neck
In terms of domain can be with the long-term fixed point monitoring of further expansion to specified waters.
Viscous hydrodynamic forces are a kind of important stress ingredient of underwater glider during the motion, and reasonably forecast is underwater sliding
The viscous hydrodynamic forces of Xiang machine are an important components of underwater glider movenent performance research.For the underwater of traditional shape
Aerodone, since it is navigated by water generally along general direction pointed by head, thus corresponding viscous hydrodynamic forces calculation method is logical
Often set up under the premise of aerodone movement velocity and the head direction lesser hypothesis of angle under water；And it is underwater for disc-shaped
Aerodone does not have specific head and is directed toward, although it can be by introducing the coordinate system mutually fixed with fuselage, and think wherein
A certain change in coordinate axis direction is head direction, but since disc-shaped underwater glider can navigate along any direction of disc-shaped shell surrounding
Row, movement velocity and head are directed toward angle and are likely to be breached 180 degree, lead to the viscous hydrodynamic forces meter of traditional shape underwater glider
Calculation method has not been suitable for disc-shaped underwater glider；Therefore disc-shaped underwater glider is a kind of novel underwater glider,
Also reach that traditional shape underwater glider is mature like that, and many is ground far away to the research of its viscous hydrodynamic forces calculation method both at home and abroad
Study carefully also not in view of hypothesis premise mentioned above is not suitable for situation, and still using traditional shape underwater glider viscosity hydrodynamic(al)
Power calculation method analyzes disc-shaped underwater glider.
Summary of the invention
The it is proposed of the present invention in view of the above problems, and develop it is a kind of can sufficiently combine disc-shaped underwater glider itself
The viscous hydrodynamic forces calculation method of the disc-shaped underwater glider of movement characteristic.
Technological means of the invention is as follows:
A kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider, the disc-shaped underwater glider includes roudnel
Shape shell, the disc-shaped shell have upper half-shell and housing lower half, and the upper half-shell and housing lower half all have axis pair
Title property, includes the following steps:
Step 1: obtaining the zero dimension hydrodynamic force coefficient of the disc-shaped underwater glider；
Step 2: three-dimensional coordinate system is built, and according to the body coordinate system, at current time body coordinate system coordinate origin
Disc-shaped underwater glider linear velocity establish course coordinate system；
Step 3: the viscous hydrodynamic forces computation model of the disc-shaped underwater glider is established under the course coordinate system；
Step 4: using coordinate conversion matrix by the disc-shaped underwater glider viscous hydrodynamic forces under the course coordinate system
It converts to the disc-shaped underwater glider viscous hydrodynamic forces under the body coordinate system；
Further, the zero dimension hydrodynamic force coefficient of the disc-shaped underwater glider by hydrodynamic experiment technology or
Fluid Mechanics Computation method obtains；
Further, body coordinate system O-XYZ and disc-shaped underwater glider concrete mutually, OX axis are directed toward the disc-shaped shell
Any direction of surrounding, OXY plane are located on the plane of symmetry of the upper half-shell and housing lower half, outside OZ axis and the disc-shaped
The central axis of shell is on the same line and direction is downward；The coordinate origin o of the course coordinate system o-xyz and body coordinate system O-
The coordinate origin O of XYZ coincides, projecting direction of the linear velocity in oxy plane at ox axis point coordinates origin o, oxy plane position
On the plane of symmetry of the upper half-shell and housing lower half, oz axis and the OZ overlapping of axles；
Further, the step 3 specifically includes:
Obtain the angle theta in body coordinate system in OX axis and course coordinate system between ox axis；
Obtain the coordinate conversion matrix between body coordinate system and course coordinate system；
By under body coordinate system at coordinate origin disc-shaped underwater glider linear velocity and angular speed converted respectively to course
Under coordinate system；
The disc-shaped underwater glider viscous hydrodynamic forces vector sum hydrodynamic force under the coordinate system of course is obtained away from vector；
Further, the step of angle theta obtained in body coordinate system in OX axis and course coordinate system between ox axis are as follows:
As U=V=0, θ=0 °；
Work as U=0, when V > 0, θ=90 °；
Work as U=0, when V < 0, θ=270 °；
Work as U > 0, when V=0, θ=0 °；
As U < 0, V=0, θ=180 °；
In the rest of the cases, θ=arctan (V/U)；
Ψ=[U V W]TCoordinate origin is in the disc-shaped underwater glider linear speed at current time under expression body coordinate system
Spend vector, wherein U indicates the offline velocity vector Ψ of body coordinate system=[U V W]TLinear velocity component, V table under OX axis direction
Show the offline velocity vector Ψ of body coordinate system=[U V W]TLinear velocity component under OY axis direction；
Further, the step of coordinate conversion matrix obtained between body coordinate system and course coordinate system are as follows: coordinate
Transition matrixWherein, θ indicate in body coordinate system in OX axis and course coordinate system ox axis it
Between angle；
Further, the disc-shaped underwater glider linear velocity under the coordinate system by body at coordinate origin and angular speed point
It Zhuan Huan not be to the step under the coordinate system of course are as follows: the disc-shaped underwater glider linear velocity under the coordinate system of course at coordinate originDisc-shaped underwater glider angular speed under the coordinate system of course at coordinate originWherein, Ψ indicates body
Disc-shaped underwater glider linear velocity, Ω under coordinate system at coordinate origin indicate the disc-shaped under body coordinate system at coordinate origin
Underwater glider angular speed,Vector expression-form beThe vector expression-form of ω is ω=[p q
r]T, Ψ vector expression-form be Ψ=[U V W]T, Ω vector expression-form be Ω=[P Q R]T；
Further, the disc-shaped underwater glider viscous hydrodynamic forces vector sum hydrodynamic force obtained under the coordinate system of course
The step of away from vector are as follows:
The circle at the coordinate system o-xyz of course, under ox axis direction, oy axis direction and oz axis direction is expressed by following form
Dish-shaped underwater glider viscous hydrodynamic forces component and hydrodynamic force are away from component:
Wherein, fx、fy、fzRespectively indicate the disc-shaped under ox axis direction under the coordinate system of course, oy axis direction and oz axis direction
Underwater glider viscous hydrodynamic forces component, mx、my、mzRespectively indicate ox axis direction under the coordinate system of course, oy axis direction and the axis side oz
For downward disc-shaped underwater glider hydrodynamic force away from component, ρ indicates fluid density, and D indicates the maximum gauge of disc-shaped shell,
X′|u|u、X′ww、Y′r、Y′p、Z′w、Z′|w|w、Z′q、K′p、K′|p|p、M′w、M′q、M′|q|q、N′r、N′|r|rIndicate zero dimension hydrodynamic(al)
Force coefficient, u indicate the offline velocity vector of course coordinate systemLinear velocity component under ox axis direction, v table
Show the offline velocity vector of course coordinate systemLinear velocity component under oy axis direction, w indicate course coordinate
It is offline velocity vectorLinear velocity component under oz axis direction, p indicate angular speed under the coordinate system of course
Vector ω=[p q r]TAngular velocity component under ox axis direction, q indicate angular velocity vector ω=[p q under the coordinate system of course
r]TAngular velocity component under oy axis direction, r indicate angular velocity vector ω=[p q r] under the coordinate system of courseTIn oz axis direction
Under angular velocity component；
Disc-shaped underwater glider viscous hydrodynamic forces vector under the coordinate system of courseCourse coordinate
Disc-shaped underwater glider hydrodynamic force under system is away from vector
Further, the step 4 specifically: under body coordinate system, the disc-shaped underwater glider at coordinate origin O is viscous
Property hydrodynamic(al) force vectorDisc-shaped underwater glider hydrodynamic force at coordinate origin O is away from vectorIts
In,Indicates coordinate transition matrixTransposition, f indicate course coordinate system under disc-shaped underwater glider viscous hydrodynamic forces
Vector, m indicate the disc-shaped underwater glider hydrodynamic force under the coordinate system of course away from vector.
By adopting the above-described technical solution, a kind of viscous hydrodynamic forces meter of disc-shaped underwater glider provided by the invention
Calculation method, can with the body coordinate system of disc-shaped underwater glider concrete mutually in, provide the specific of its suffered viscous hydrodynamic forces
It calculates, which can satisfy the movement that disc-shaped underwater glider can be navigated by water along any direction of disc-shaped shell surrounding
Feature, and then the viscous hydrodynamic forces convenient for reasonably forecasting disc-shaped underwater glider, are conducive to disc-shaped underwater glider
Movenent performance research.
Detailed description of the invention
Fig. 1 is the external structure schematic diagram of disc-shaped underwater glider in the prior art；
Fig. 2 is the three-dimensional space schematic diagram of body coordinate system of the present invention Yu course coordinate system；
Fig. 3 is the schematic diagram of coordinate system oxz plane in course of the present invention；
Fig. 4 is the flow chart of the method for the invention.
In figure: 1, disc-shaped shell, 2, upper half-shell, 3, housing lower half.
Specific embodiment
A kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider as shown in Figure 1, Figure 2, Figure 3 and Figure 4, it is described
Disc-shaped underwater glider includes disc-shaped shell 1, and the disc-shaped shell 1 has upper half-shell 2 and housing lower half 3, described
Upper half-shell 2 and housing lower half 3 all have axial symmetry, include the following steps:
Step 1: obtaining the zero dimension hydrodynamic force coefficient of the disc-shaped underwater glider；
Step 2: three-dimensional coordinate system is built, and according to the body coordinate system, at current time body coordinate system coordinate origin
Disc-shaped underwater glider linear velocity establish course coordinate system；
Step 3: the viscous hydrodynamic forces computation model of the disc-shaped underwater glider is established under the course coordinate system；
Step 4: using coordinate conversion matrix by the disc-shaped underwater glider viscous hydrodynamic forces under the course coordinate system
It converts to the disc-shaped underwater glider viscous hydrodynamic forces under the body coordinate system；
Further, the zero dimension hydrodynamic force coefficient of the disc-shaped underwater glider by hydrodynamic experiment technology or
Fluid Mechanics Computation method obtains；
Further, body coordinate system O-XYZ and disc-shaped underwater glider concrete mutually, OX axis are directed toward the disc-shaped shell
Any direction of 1 surrounding, OXY plane are located on the plane of symmetry of the upper half-shell 2 and housing lower half 3, OZ axis and the roudnel
The central axis of shape shell 1 is on the same line and direction is downward；The coordinate origin o of course coordinate system o-xyz and the body coordinate
It is that the coordinate origin O of O-XYZ coincides, projecting direction of the linear velocity in oxy plane at ox axis point coordinates origin o, oxy is flat
Face is located on the plane of symmetry of the upper half-shell 2 and housing lower half 3, oz axis and the OZ overlapping of axles；
Further, the step 3 specifically includes:
Obtain the angle theta in body coordinate system in OX axis and course coordinate system between ox axis；
Obtain the coordinate conversion matrix between body coordinate system and course coordinate system；
By under body coordinate system at coordinate origin disc-shaped underwater glider linear velocity and angular speed converted respectively to course
Under coordinate system；
The disc-shaped underwater glider viscous hydrodynamic forces vector sum hydrodynamic force under the coordinate system of course is obtained away from vector；
Further, the step of angle theta obtained in body coordinate system in OX axis and course coordinate system between ox axis are as follows:
As U=V=0, θ=0 °；
Work as U=0, when V > 0, θ=90 °；
Work as U=0, when V < 0, θ=270 °；
Work as U > 0, when V=0, θ=0 °；
As U < 0, V=0, θ=180 °；
In the rest of the cases, θ=arctan (V/U)；
Ψ=[U V W]TCoordinate origin is in the disc-shaped underwater glider linear speed at current time under expression body coordinate system
Spend vector, wherein U indicates the offline velocity vector Ψ of body coordinate system=[U V W]TLinear velocity component, V table under OX axis direction
Show the offline velocity vector Ψ of body coordinate system=[U V W]TLinear velocity component under OY axis direction；
Further, the step of coordinate conversion matrix obtained between body coordinate system and course coordinate system are as follows: coordinate
Transition matrixWherein, θ indicate in body coordinate system in OX axis and course coordinate system ox axis it
Between angle；
Further, the disc-shaped underwater glider linear velocity under the coordinate system by body at coordinate origin and angular speed point
It Zhuan Huan not be to the step under the coordinate system of course are as follows: the disc-shaped underwater glider linear velocity under the coordinate system of course at coordinate originDisc-shaped underwater glider angular speed under the coordinate system of course at coordinate originWherein, Ψ indicates body
Disc-shaped underwater glider linear velocity, Ω under coordinate system at coordinate origin indicate the disc-shaped under body coordinate system at coordinate origin
Underwater glider angular speed,Vector expression-form beThe vector expression-form of ω is ω=[p q
r]T, Ψ vector expression-form be Ψ=[U V W]T, Ω vector expression-form be Ω=[P Q R]T；
Further, the disc-shaped underwater glider viscous hydrodynamic forces vector sum hydrodynamic force obtained under the coordinate system of course
The step of away from vector are as follows:
The circle at the coordinate system o-xyz of course, under ox axis direction, oy axis direction and oz axis direction is expressed by following form
Dish-shaped underwater glider viscous hydrodynamic forces component and hydrodynamic force are away from component:
Wherein, fx、fy、fzRespectively indicate the disc-shaped under ox axis direction under the coordinate system of course, oy axis direction and oz axis direction
Underwater glider viscous hydrodynamic forces component, mx、my、mzRespectively indicate ox axis direction under the coordinate system of course, oy axis direction and the axis side oz
For downward disc-shaped underwater glider hydrodynamic force away from component, ρ indicates fluid density, and D indicates the maximum gauge of disc-shaped shell 1,
X′|u|u、X′ww、Y′r、Y′p、Z′w、Z′|w|w、Z′q、K′p、K′|p|p、M′w、M′q、M′|q|q、N′r、N′|r|rIndicate zero dimension hydrodynamic(al)
Force coefficient, u indicate the offline velocity vector of course coordinate systemLinear velocity component under ox axis direction, v table
Show the offline velocity vector of course coordinate systemLinear velocity component under oy axis direction, w indicate course coordinate
It is offline velocity vectorLinear velocity component under oz axis direction, p indicate angular speed under the coordinate system of course
Vector ω=[p q r]TAngular velocity component under ox axis direction, q indicate angular velocity vector ω=[p q under the coordinate system of course
r]TAngular velocity component under oy axis direction, r indicate angular velocity vector ω=[p q r] under the coordinate system of courseTIn oz axis direction
Under angular velocity component；
Disc-shaped underwater glider viscous hydrodynamic forces vector under the coordinate system of courseCourse coordinate
Disc-shaped underwater glider hydrodynamic force under system is away from vector
Further, the step 4 specifically: under body coordinate system, the disc-shaped underwater glider at coordinate origin O is viscous
Property hydrodynamic(al) force vectorDisc-shaped underwater glider hydrodynamic force at coordinate origin O is away from vectorIts
In,Indicates coordinate transition matrixTransposition, f indicate course coordinate system under disc-shaped underwater glider viscous hydrodynamic forces
Vector, m indicate the disc-shaped underwater glider hydrodynamic force under the coordinate system of course away from vector.
Ψ of the present invention=[U V W]TCoordinate origin is in the disc-shaped underwater gliding at current time under expression body coordinate system
Machine linear velocity vector, the Ψ=[U V W]TIt is known；W indicates the offline velocity vector Ψ of body coordinate system=[U V W]T?
Linear velocity component under OZ axis direction.Linear velocity vector under the coordinate system of course at disc-shaped underwater glider coordinate originBecause projecting direction of the linear velocity in oxy plane is consistent with the direction of ox axis, then linear velocity component v=
0, i.e.,After obtaining the viscous hydrodynamic forces under body coordinate system, it is underwater that the disc-shaped can be served
The forecast of aerodone spatial movement.OXY plane of the present invention is located on the plane of symmetry of the upper half-shell 2 and housing lower half 3,
The oxy plane is located on the plane of symmetry of the upper half-shell 2 and housing lower half 3, upper half-shell 2 and housing lower half 3 here
The plane of symmetry refer to the plane of symmetry between upper half-shell 2 and housing lower half 3.
Fig. 2 shows the three-dimensional space schematic diagrames of body coordinate system of the present invention and course coordinate system, wherein θ indicates body
Angle in coordinate system in OX axis and course coordinate system between ox axis；Fig. 3 shows coordinate system oxz plane in course of the present invention
Schematic diagram, wherein D expression disc-shaped shell 1 maximum gauge.
The method of the invention can with the body coordinate system of disc-shaped underwater glider concrete mutually in, it is suffered viscous to provide it
The hydrodynamic specific calculating of property, which can satisfy disc-shaped underwater glider can be along any of disc-shaped shell surrounding
The movement characteristic of direction navigation.When giving movement velocity of the disc-shaped underwater glider in body coordinate system, can realize
The solution of viscous hydrodynamic forces suffered by disc-shaped underwater glider in body coordinate system；Disc-shaped underwater glider under the coordinate system of course
Viscous hydrodynamic forces and zero dimension hydrodynamic force coefficient not angle theta in satellite coordinate system in OX axis and course coordinate system between ox axis
Change and change, applicability is not also limited by angle theta size；The method of the invention solves traditional shape underwater glider
Viscous hydrodynamic forces calculation method is unable to satisfy the fortune that disc-shaped underwater glider can be navigated by water along disc-shaped shell surrounding any direction
The technical issues of dynamic feature, and substantially envisage the axial symmetry of disc-shaped underwater glider shape；Side of the present invention
Method is conducive to the movenent performance of disc-shaped underwater glider convenient for the viscous hydrodynamic forces of reasonably forecast disc-shaped underwater glider
Research.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider, the disc-shaped underwater glider includes disc-shaped
Shell, the disc-shaped shell have upper half-shell and housing lower half, and the upper half-shell and housing lower half all have axial symmetry
Property, it is characterised in that include the following steps:
Step 1: obtaining the zero dimension hydrodynamic force coefficient of the disc-shaped underwater glider；
Step 2: three-dimensional coordinate system is built, and according to the body coordinate system, in conjunction with the circle at current time body coordinate system coordinate origin
Dish-shaped underwater glider linear velocity establishes course coordinate system；
Step 3: the viscous hydrodynamic forces computation model of the disc-shaped underwater glider is established under the course coordinate system；
Step 4: being converted the disc-shaped underwater glider viscous hydrodynamic forces under the course coordinate system using coordinate conversion matrix
Disc-shaped underwater glider viscous hydrodynamic forces under to the body coordinate system；
The step 3 specifically includes:
Obtain the angle theta in body coordinate system in OX axis and course coordinate system between ox axis；
Obtain the coordinate conversion matrix between body coordinate system and course coordinate system；
By under body coordinate system at coordinate origin disc-shaped underwater glider linear velocity and angular speed converted respectively to course coordinate
Under system；
The disc-shaped underwater glider viscous hydrodynamic forces vector sum hydrodynamic force under the coordinate system of course is obtained away from vector；
The step of angle theta obtained in body coordinate system in OX axis and course coordinate system between ox axis are as follows:
As U=V=0, θ=0 °；
Work as U=0, when V > 0, θ=90 °；
Work as U=0, when V < 0, θ=270 °；
Work as U > 0, when V=0, θ=0 °；
As U < 0, V=0, θ=180 °；
In the rest of the cases, θ=arctan (V/U)；
Ψ=[U V W]TIndicate under body coordinate system coordinate origin be in the disc-shaped underwater glider linear velocity at current time to
Amount, wherein U indicates the offline velocity vector Ψ of body coordinate system=[U V W]TLinear velocity component, V under OX axis direction indicate body
The offline velocity vector Ψ of coordinate system=[U V W]TLinear velocity component under OY axis direction；
The step of coordinate conversion matrix obtained between body coordinate system and course coordinate system are as follows: coordinate conversion matrixWherein, θ indicates the angle in body coordinate system in OX axis and course coordinate system between ox axis；
Disc-shaped underwater glider linear velocity and angular speed under the coordinate system by body at coordinate origin are converted respectively to course
Step under coordinate system are as follows: the disc-shaped underwater glider linear velocity under the coordinate system of course at coordinate originCourse
Disc-shaped underwater glider angular speed under coordinate system at coordinate originWherein, Ψ indicates coordinate under body coordinate system
Disc-shaped underwater glider linear velocity, Ω at origin indicate the disc-shaped underwater glider angle under body coordinate system at coordinate origin
Speed,Vector expression-form beThe vector expression-form of ω is ω=[p q r]T, Ψ vector
Expression-form is Ψ=[U V W]T, Ω vector expression-form be Ω=[P Q R]T, W indicate body coordinate system under linear velocity to
Measure Ψ=[U V W]TLinear velocity component under OZ axis direction, u indicate the offline velocity vector of course coordinate systemLinear velocity component, v under ox axis direction indicate the offline velocity vector of course coordinate systemLinear velocity component, w under oy axis direction indicate the offline velocity vector of course coordinate systemAngular velocity vector ω=[p q in the case where linear velocity component, the p under oz axis direction indicate course coordinate system
r]TAngular velocity vector ω=[the p q r] in the case where angular velocity component, the q under ox axis direction indicate course coordinate systemTIn oy axis direction
Under angular velocity component, r indicate course coordinate system under angular velocity vector ω=[p q r]TAngular speed point under oz axis direction
Amount, P indicate angular velocity vector Ω=[P Q R] under body coordinate systemTAngular velocity component, Q under OX axis direction indicate body coordinate
It is lower angular velocity vector Ω=[P Q R]TThe angular velocity vector in the case where angular velocity component, the R under OY axis direction indicate body coordinate system
Ω=[P Q R]TAngular velocity component under OZ axis direction；
The step of disc-shaped underwater glider viscous hydrodynamic forces vector sum hydrodynamic force obtained under the coordinate system of course is away from vector
Are as follows:
The disc-shaped at the coordinate system o-xyz of course, under ox axis direction, oy axis direction and oz axis direction is expressed by following form
Underwater glider viscous hydrodynamic forces component and hydrodynamic force are away from component:
Wherein, fx、fy、fzThe disc-shaped respectively indicated under ox axis direction under the coordinate system of course, oy axis direction and oz axis direction is underwater
Aerodone viscous hydrodynamic forces component, mx、my、mzIt respectively indicates under ox axis direction under the coordinate system of course, oy axis direction and oz axis direction
Disc-shaped underwater glider hydrodynamic force away from component, ρ indicates fluid density, and D indicates the maximum gauge of disc-shaped shell, X '|u|u、
X′ww、Y′r、Y′p、Z′w、Z′|w|w、Z′q、K′p、K′|p|p、M′w、M′q、M′|q|q、N′r、N′|r|rIndicate zero dimension hydrodynamic force system
Number, u indicate the offline velocity vector of course coordinate systemLinear velocity component under ox axis direction, v indicate boat
To the offline velocity vector of coordinate systemLinear velocity component under oy axis direction, w are indicated under the coordinate system of course
Linear velocity vectorLinear velocity component under oz axis direction, p indicate angular velocity vector under the coordinate system of course
ω=[p q r]TAngular velocity component under ox axis direction, q indicate angular velocity vector ω=[p q r] under the coordinate system of courseT?
Angular velocity component under oy axis direction, r indicate angular velocity vector ω=[p q r] under the coordinate system of courseTUnder oz axis direction
Angular velocity component；
Disc-shaped underwater glider viscous hydrodynamic forces vector under the coordinate system of courseUnder the coordinate system of course
Disc-shaped underwater glider hydrodynamic force away from vector
2. a kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider according to claim 1, it is characterised in that
The zero dimension hydrodynamic force coefficient of the disc-shaped underwater glider passes through hydrodynamic experiment technology or Fluid Mechanics Computation method
It obtains.
3. a kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider according to claim 1, it is characterised in that
Body coordinate system O-XYZ and disc-shaped underwater glider concrete mutually, OX axis are directed toward any direction of the disc-shaped shell surrounding,
OXY plane is located on the plane of symmetry of the upper half-shell and housing lower half, and the central axis of OZ axis and the disc-shaped shell is same
On one straight line and direction is downward；The coordinate origin O phase of the coordinate origin o of course coordinate system o-xyz and the body coordinate system O-XYZ
Be overlapped, ox axis point coordinates origin o locate projecting direction of the linear velocity in oxy plane, oxy plane be located at the upper half-shell and
On the plane of symmetry of housing lower half, oz axis and the OZ overlapping of axles.
4. a kind of viscous hydrodynamic forces calculation method of disc-shaped underwater glider according to claim 1, it is characterised in that
The step 4 specifically: the disc-shaped underwater glider viscous hydrodynamic forces vector under body coordinate system, at coordinate origin ODisc-shaped underwater glider hydrodynamic force at coordinate origin O is away from vectorWherein,Indicates coordinate
Transition matrixTransposition, f indicate course coordinate system under disc-shaped underwater glider viscous hydrodynamic forces vector, m indicate course
Disc-shaped underwater glider hydrodynamic force under coordinate system is away from vector.
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| CN104527953A (en) * | 2015-01-26 | 2015-04-22 | 大连海事大学 | Circular-disc-shaped underwater glider and working method thereof |
| CN105059505A (en) * | 2015-07-17 | 2015-11-18 | 大连海事大学 | Disc-shaped underwater glider |
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| CN104527953A (en) * | 2015-01-26 | 2015-04-22 | 大连海事大学 | Circular-disc-shaped underwater glider and working method thereof |
| CN105059505A (en) * | 2015-07-17 | 2015-11-18 | 大连海事大学 | Disc-shaped underwater glider |
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