CN110827616A - Submarine steering and balance control simulation test platform and method - Google Patents
Submarine steering and balance control simulation test platform and method Download PDFInfo
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Abstract
The invention relates to the field of large-scale equipment simulation, in particular to a submarine steering and balance control simulation test platform and a submarine steering and balance control simulation test method. The submarine maneuvering simulation system comprises a simulation test console and submarine maneuvering simulation software, wherein the submarine maneuvering simulation software comprises simulation algorithm software and display software, and the simulation algorithm software comprises a water surface motion module, an underwater motion module, a hovering motion module and the like. The submarine operation simulation test system can perform submarine operation simulation tests under different initial states, maneuvering forms and operation modes according to test schemes, and can also realize combined operation and drilling of multiple persons and cooperation among training teams.
Description
Technical Field
The invention relates to the field of large-scale equipment simulation, in particular to a submarine steering and balance control simulation test platform and a submarine steering and balance control simulation test method.
Background
The modern submarine is an offshore operation platform integrating various high technologies, is provided with various advanced detection, communication, navigation, weapons, underwater acoustic countermeasures and other equipment, and is connected into a whole through an advanced operation command system. The characteristics of high technology, large scale, complex operation and the like of the submarine impose high requirements on the actual operation level of trained personnel, the daily training of submarine troops becomes an important problem concerned and researched by naval of various countries, and the conventional offshore training has high cost, long period and large risk, and particularly, the practical training cannot be carried out on the operation under the extreme working condition and the emergency working condition of the submarine.
With the continuous development of computer technology, system simulation technology and virtual reality technology and the penetration of the technology into the military field, the traditional training concept and training mode are facing revolutionary changes. In order to reduce the training cost, reduce the training risk, improve the training efficiency and simultaneously reduce the influence of the training on the environment, the navy of all countries in the world is dedicated to the development of the submarine operation motion simulation test platform.
The submarine operation motion simulation test platform is based on a submarine dynamics simulation model, combines the actual operation process of the trainee and utilizes the use of computer technology, automation technology, analog simulation technology and other analog submarine vehicles, rudders, water, gas and other operation devices to carry out the analog training of operations such as submarine balance, submergence, underwater navigation and the like on the trainee under different sea areas and sea conditions. The submarine operation motion simulation test platform generally comprises an operation control computer, a virtual operation control console and the like, wherein the operation control computer has the functions of resolving submarine six-degree-of-freedom motion in real time, simulating steering and communicating with the outside; the virtual steering console is used for simulating a centralized control steering instrument and a submerging and surfacing monitoring console and has a fault setting function and other auxiliary functions. The submarine operation simulation test platform can simulate submarine operation under extreme working conditions and emergency working conditions, such as large trim, large attack angle, cabin water inlet, rudder truck, ballast abandoning, short-circuit quick blowing and the like.
The submarine operation motion simulation test platform can also be used for theoretical research, product design and the like in the field of submarine operation. Such as the research on the control law of submarine operation or the research on how the submarine selects the optimal maneuver according to the preset track. In addition, the corresponding hydrodynamic coefficients can be changed by changing the shape, the size and the position of the submarine type or the control surface, and the influence of the shape, the size and the position on the maneuverability of the submarine is analyzed by the simulation test platform, so that the optimal scheme is provided for the design of the submarine control surface.
Disclosure of Invention
Aiming at the difference of the prior art, the invention provides a submarine steering and balance control simulation test platform and a submarine steering and balance control simulation test method. The submarine operation simulation test system can perform submarine operation simulation tests under different initial states, maneuvering forms and operation modes according to test schemes, and can also realize combined operation and drilling of multiple persons and cooperation among training teams.
The technical scheme of the invention is as follows: a submarine steering and balance control simulation test platform comprises a simulation test control platform and submarine steering motion simulation software, wherein the submarine steering motion simulation software comprises simulation algorithm software and display software, and the submarine steering and balance control simulation test platform is characterized in that: the simulation test console comprises a two-degree-of-freedom steering hand wheel with a surrounding shell and an input head steering angle deltabRudder angle deltar(ii) a Tail elevator control knob to input tail rudder angle deltas(ii) a Course control mode change-over switch for determining rudder angle deltarControlled by an operator or automatically generated by a computer; depth control mode change-over switch for determining rudder angle deltabAnd tail rudder angle deltasControlled by operator or automatically generated by computer, balance operation mode change-over switch, and determination of balance regulation static load △ P and static load moment △ MPControlled by an operator or automatically generated by a computer; remote control keyboard of propulsion motor for inputting rotation speed of propulsion motor, i.e. propeller thrust XP(ii) a Automatically steering and balancing an input keyboard, and inputting instruction depth or instruction balancing adjustment quantity; the system comprises a simulation algorithm software water surface motion module, an underwater motion module and a hovering motion module; the display software includes: simulation test software water tank water quantity display, test task information display, submarine motion state display, submarine initial motion state setting and submarine simulationState setting, test task process control, test task mode selection, storm setting, submarine control comprehensive display control and submarine balance comprehensive display control.
According to the submarine steering and balance control simulation test platform, the submarine steering and balance control simulation test platform is characterized in that: the steering hand wheel, the control knob, the course control mode change-over switch, the depth control mode change-over switch, the balance control mode change-over switch, the propulsion motor remote control keyboard and the automatic steering and balance input keyboard are integrated on one panel.
According to the submarine steering and balance control simulation test platform, the submarine steering and balance control simulation test platform is characterized in that: the submarine operation simulation test system further comprises a touch liquid crystal screen, and the touch liquid crystal screen is used for compiling operation software according to the requirements of the submarine operation simulation test.
The invention also discloses a submarine steering and balance control simulation test method, which comprises a water surface motion module, an underwater motion module and a hovering motion module, wherein the water surface motion module is adopted when the submarine draft is less than 5 m; when the draft of the submarine is more than or equal to 5m and the speed of the submarine is more than or equal to 0.1m/s, an underwater motion module is adopted; when the submarine draft is more than or equal to 5m and the navigation speed is less than 0.1m/s, a hovering motion module is adopted; the method is characterized in that: the water surface motion module adopts a dimensionless hydrodynamic force coefficient as a parameter of a submarine six-freedom-degree space motion equation, and adopts a four-order fixed-step longge vault tower algorithm to measure a heading angle, a drift angle, a transverse inclination angle and a turning heading angle speed of the simulated submarine according to an input rudder angle and a vehicle order signal; when the underwater motion module is used, two dimensionless hydrodynamic coefficients of a small attack angle (the attack angle is less than or equal to 12 degrees) and a large attack angle (the attack angle is greater than 12 degrees) are used as parameters of a six-degree-of-freedom space motion equation of the submarine. Initially taking a dimensionless hydrodynamic coefficient at a small attack angle, iteratively calculating a submarine operation motion parameter of each step by adopting a fourth-order Runge Kutta algorithm, and performing operation according to the calculated parameters
Judging the current attack angle, and automatically determining the small attack angle coefficient or the large attack angle coefficient adopted in the next iteration; submarine-simulating submarine under different navigation speed, rudder angle manipulation, static load and moment effectsThe speed raising rate, the reverse speed and the change of characteristic parameters in the processes of step steering, trapezoidal steering and z-shaped maneuvering; the hovering motion module adopts a submarine underwater hovering motion mathematical model to simulate the submarine speed-free depth control under water.
The submarine steering and balance control simulation test method is characterized by comprising the following steps: the method for simulating the hovering motion module comprises the following steps: the amount of compression to approximate cancel the acoustic tile is proportional to the depth of potential:
in the formula, △ C is the buoyancy difference caused under the condition of extreme compression, and H is the submarine depth;
calculating the sum of buoyancy variation caused by seawater density: z3＝Z31+Z32Wherein the amount of buoyancy change is caused to beIn the formula (I), the compound is shown in the specification,
the water is drained completely underwater; rho1、ρ2Respectively the density of the seawater in the original sea area and the new sea area; z32Varying the density for depth changes to cause a change in buoyancy;
calculating the variable quantity of the buoyancy according to a zero lift force and a moment formula thereof;
in the formula, Z0、M0Respectively reducing zero lift force and zero lift moment during natural deceleration; v is the speed of the vehicle when parking is carried out;
then according to the formula
Calculating different equilibrium values Z4And M4Variation of motion parameters of submarineIn the method, m is the submarine quality corresponding to the underwater full displacement; rho is the density of the seawater; l is the length of the submarine; h is the height of the center of stability. Reference to definition of hydrodynamic coefficients of interest [1][2]。
The submarine steering and balance control simulation test method is characterized by comprising the following steps: the submarine simulation system further comprises a motion module when the submarine is converted from underwater motion to water sailing state, and the change of the action point of the static load borne by the submarine and the change of the action point of the static load are simulated according to the Bernoulli calculation method and the submarine six-degree-of-freedom space motion equation.
The invention has the beneficial effects that: firstly, collect and control, emulation in an organic whole, both can be used to maneuverability experiment also can be used to the simulation training. And secondly, the device is provided with a plurality of modules such as a water surface motion module, an underwater motion module and a hovering motion module, parameters can be simulated aiming at different modules, and the practicability is high. And thirdly, the method can be used for theoretical research and product design in the submarine control field, the research and development time is shortened, and the operation performance of the submarine can be simulated as early as possible. And fourthly, parameters of different types of submarines under various conditions can be simulated conveniently through parameter change, and an optimal scheme is provided for the design of the control surface of the submarine.
Drawings
FIG. 1 is a submarine real-time motion simulation algorithm flow.
Fig. 2 is a structural diagram of a simulation test console according to the present invention.
FIG. 3 is a submarine maneuvering motion simulation software interface according to the invention.
Fig. 4 is a coordinate system for creating a mathematical model.
Description of reference numerals: the device comprises a steering hand wheel 1.1, an operating knob 1.2, a course operating mode change-over switch 1.3, a depth operating mode change-over switch 1.4, a balance operating mode change-over switch 1.5, a remote control keyboard 1.6 of a propulsion motor, an automatic steering and balance input keyboard 1.7, a touch liquid crystal screen 1.8, a water tank water quantity display 2.1, a test task information display 2.2, a submarine motion state display 2.3, a submarine initial motion state setting 2.4, a submarine simulation state setting 2.5, a test task process control 2.6, a test task mode selection 2.7, a wind wave setting 2.8, a submarine comprehensive operating control 2.9 and a submarine balance comprehensive display control 2.10.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1 to 3, the submarine manipulation motion simulation test platform of the present invention includes a simulation test console and submarine manipulation motion simulation software, and the submarine manipulation motion simulation software includes simulation algorithm software and display software.
As shown in figure 2, the simulation test console comprises a two-degree-of-freedom steering hand wheel 1.1 for steering a surrounding shell, and a head steering angle delta is inputbRudder angle deltar(ii) a Tail elevator control knob 1.2, input tail rudder angle deltas(ii) a A course control mode change-over switch 1.3 is used for determining a rudder angle deltarControlled by an operator or automatically generated by a computer; a depth control mode change-over switch 1.4 is used for determining the rudder angle deltabAnd tail rudder angle deltasControlled by operator or automatically generated by computer, balance operation mode change-over switch 1.5 for determining balance regulation static load △ P and static load moment △ MPControlled by an operator or automatically generated by a computer; the remote control keyboard 1.6 of the propulsion motor inputs the rotating speed of the propulsion motor, namely the propeller thrust XP(ii) a And an automatic steering and balance input keyboard 1.7 is used for inputting instruction depth or instruction balance adjustment quantity. The steering hand wheel 1.1, the control knob 1.2, the course control mode change-over switch 1.3, the depth control mode change-over switch 1.4, the balance control mode change-over switch 1.5, the remote control keyboard 1.6 of the propulsion motor and the automatic steering and balance input keyboard 1.7 can be integrated on one panel, thereby being convenient for centralized operation. The panel of the invention is preferably provided with a touch liquid crystal screen 1.8, and the touch liquid crystal screen 1.8 can compile corresponding control software according to the specific requirements of the submarine control motion simulation test to complete the corresponding simulation test task. The simulation test console can provide complete operation input parameters, so that an operator can actually experience an operation process, scientific research and teaching are facilitated, and a student can know the needs of attention in the operation process in a laboratory.
As shown in fig. 3, the display software of the submarine steering motion simulation software comprises the following parts: simulation test softwareThe water quantity of the water tank is displayed by 2.1, and the water quantities of the buoyancy adjusting water tank, the weight supplementing water tank and the head and tail balancing water tank are displayed in a centralized manner; 2.2, displaying test task information, namely displaying the name of the test task, the starting and ending time and over-limit prompt information of various parameters in the task process by adopting characters; the submarine motion state is displayed 2.3, and the variation condition of each state parameter of the submarine space motion is synchronously displayed by adopting a curve and a number; setting the initial motion state of the submarine to be 2.4, and setting the initial motion information of the submarine before the test task, wherein the initial motion information comprises the navigational speed u, the depth zeta, the course psi, the trim theta and the heeling
And the like; setting a submarine simulation state 2.5, and setting the working state of the simulation platform, wherein the working state comprises the functions of starting, setting the sequence of test tasks, pausing, refreshing, data holding and the like; the test task process is controlled 2.6, and each step of the test task is manually controlled, including preparation, implementation starting, test finishing and other operations; selecting a test task mode 2.7, and setting the test task to be a manual or automatic program mode; setting 2.8 of wind waves, and setting the direction and the grade of the wind waves; the submarine controls the comprehensive display and control 2.9, and adopts a centralized display and control interface to display the motion parameters such as a steering angle, the submarine course, the submarine depth, the trim, the heeling and the like; the submarine balance comprehensive display and control is 2.10, the operations of main drainage of the submarine buoyancy adjusting water tank, water pressing of the head and tail balance water tanks and the like can be completed in a touch mode, and the water quantities of the buoyancy adjusting water tank and the head and tail balance water tanks are displayed in a digital synchronous mode.
As shown in fig. 4, the mathematical model adopted by the submarine-operated motion simulation software is established based on the coordinate system, and the noun terms and the symbolic rules adopt the systems of ITTC and SNAME term bulletin, which is described in the reference [1] [2], wherein the fixed coordinate system is E- ξη ζ and the motion coordinate system is G-xyz, the basic mathematical model of the submarine-operated motion simulation software adopts the submarine six-degree-of-freedom spatial motion equation published by the tillernaval vessel research and development center (DTNSRDC) in 1967:
■ equation of axial force
■ equation of lateral force
■ vertical force equation
■ roll moment equation
■ pitching moment equation
■ yaw moment equation
■ Assistant equation-kinematic relation
Reference documents:
[1] ship dynamics dictionary [ M ]. shanghai: editors of shipbuilding in china, 1981.
[2]Nomenclature for Treating the Motion of a Submerged Body through aFluid[R].SNAME Technical and Research Bulletin 1-5，1952.
The formulas (1) to (6) are arranged, and acceleration is contained
The other terms are shifted to the right of the equation to obtain
Wherein:
CAthe symmetric matrix mainly comprises inertia hydrodynamic coefficient in the middle. CDEach row element is the algebraic sum of the remaining terms of the equations (1) - (6) except the acceleration term, which is a 6 × 1 column vector.
Left multiplying both sides of formula (9)
Is finished to obtain
The united type (7), (8) and (10) form a 12-element differential equation set, the four-order fixed step longge vault tower algorithm integration can be adopted, namely the subsequent model can adopt the four-order fixed step longge vault tower algorithm integration to calculate the parameters, the real-time motion parameters of the submarine are obtained through simulation calculation, and the specific algorithm flow and software module are shown in figure 1.
Because the submarine is a special ship which can sail on the water surface, maneuver under the water and hover at the sea to a certain depth, in order to realize the full-working-condition coverage of the submarine steering and balance control simulation test, the simulation software needs to be modularly designed, and the submarine is divided into a water surface motion module, an underwater motion module and a hover motion module according to the difference of hydrodynamic force caused by the actual motion condition and different draught of the submarine, wherein the different computation modules adopt the submarine depth zetaGThe navigational speed V or the vertical plane attack angle α are used as judgment indexes to select and switch the mathematical model or the hydrodynamic coefficient, such as a graph1, thereby realizing the smooth transition of the submarine motion parameters.
As shown in FIG. 1, the submarine steering and balance control simulation test method of the invention is simulation algorithm software. The working process of the simulation algorithm software is that the submarine depth is judged, if the submarine draft is less than 5m, a water surface motion module is adopted, if the submarine draft is more than or equal to 5m, the sailing speed is further judged, if the sailing speed is less than or equal to 0.1m/s, a hovering motion module is adopted, and if the sailing speed is more than or equal to 0.1m/s, an underwater motion module is adopted. In the underwater motion module, different coefficients are selected according to different attack angles, so that output of the motion parameters under the premise of each different model is realized.
1. And selecting a water surface motion module when the submarine moves on the water surface, and taking the dimensionless hydrodynamic coefficients in the equations (1) to (6) as the test result of the submarine water surface maneuverability hydrodynamic. The operation parameters of the model solving real-time input mainly comprise a rudder angle deltarAnd traffic signals, i.e. propeller thrust XPThe submarine surface control motion simulation test can be developed to measure the heading angle psi, drift angle β and transverse inclination angle of the submarine under the control of different navigation speeds and rudder angles
Angular speed of revolution r, diameter of steady revolution D, advance lATactical diameter DTAnd (3) the variation of the parameters of the revolution motion and the characteristic parameters in the process of the z-shaped maneuvering.
2. Selecting an underwater motion module when the submarine moves underwater, taking the dimensionless hydrodynamic coefficient in equations (1) - (6) as an underwater maneuverability hydrodynamic test result of the submarine (the test result when the initial small attack angle α is less than or equal to 12 degrees), and solving the real-time input operation parameters by using the model mainly comprises a first rudder angle deltabTail rudder angle deltasRudder angle deltarTraffic signals, i.e. propeller thrust XPAnd total static load △ P and static load action point x of submarineP,yP,zP. Wherein, the determination of the static load and the acting point thereof needs to consider the buoyancy to adjust the water injection and drainage of the water tank, the water transfer of the trim balance water tank and the water injection of the main ballast water tank of the submarineAnd blowing-off, etc. when the submarine is underwater, it can make high-speed large-angle of attack maneuver (angle of attack α)>At 12 deg., because of the high nonlinearity of the hydrodynamic force, the small attack angle coefficient will cause a large simulation calculation error, and therefore, after each step of iterative calculation is performed by adopting the four-step fixed-step long-Longge Kutta algorithm, the calculation is performed according to the result
And judging the current attack angle, and automatically determining that a small attack angle coefficient or a large attack angle coefficient is adopted in the next iteration, thereby ensuring the calculation accuracy of the submarine space maneuvering mathematical model. Based on the model, a submarine underwater control motion simulation test is developed, and the speed-up rate of the submarine under the action of different navigational speeds, rudder angle control, static load and moment is measured
Reverse velocity VrsAnd the change conditions of the characteristic parameters in the processes of step steering, trapezoidal steering and z-shaped maneuvering.
3. When the main propulsion motor stops and the submarine navigation speed is judged to be reduced to 0.1m/s, the hovering motion module is selected, the simulation solving model is gradually degenerated into a submarine underwater hovering motion mathematical model from a submarine space six-degree-of-freedom motion model, and submarine non-navigation speed depth control is simulated. Underwater hovering is a special case of submarine steering motion, belongs to slow motion, and usually only focuses on the hovering depth during hovering. Therefore, the vertical plane steering motion nonlinear equation is used for description:
wherein: the hydrodynamic coefficients in the equation can be determined using model tests or real boat tests. Z0、Z2、Z3And M0For the disturbance force, three aspects of disturbance such as compression of the hull and the anechoic tile, sea water density variation and initial unbalance are mainly considered.
(1) Buoyancy generated by compressing submarine body and silencing tile
According to the compression amount of the drainage volume of the anechoic tile applied to the outer surface of the boat body when the boat is at the limit submergence depth, the compression amount of the approximately anechoic tile is estimated to be in direct proportion to the submergence depth:
wherein △ C is the buoyancy difference caused by the limit compression, and H is the submarine depth.
(2) Buoyancy generated by sea water density change
The influence of the salinity, the temperature and the pressure of the seawater on the buoyancy of the submarine can be summarized as the influence of the change of the density of the seawater on the buoyancy of the submarine. The change in buoyancy is generally calculated in two ways:
submarine with sea water density rho1After the sea area is well balanced, the sea area is transited to the density rho2The new sea area of (2) causing a buoyancy change of Z31
In the formula (I), the compound is shown in the specification,
for the total displacement (m) under water3)；ρ1、ρ2Respectively the sea water density (t/m) of the original sea area (sea depth) and the new sea area (sea depth)3)。
The density changes due to the depth change, resulting in a buoyancy change Z32。
Therefore, the amount of buoyancy change caused by the sea water density should be the sum of the two parts: z3＝Z31+Z32。
(3) Initial unbalance amount before submarine hovering
Under general conditions, the navigation speed of the submarine is reduced to the economic navigation speed before the submarine enters hovering, and balance is supplemented. Then stopping the vehicle, naturally decelerating to zero, and in the process, calculating the variable quantity of the buoyancy according to a zero lift force and a moment formula thereof.
In the formula, Z0、M0Respectively reducing zero lift force and zero lift moment during natural deceleration; v is the speed (m/s) at which the vehicle is stopped.
Taking into account the above-mentioned forces and moments Z0、Z2、Z3And M0The change of (2) can be simulated and solved by using the equation (11), and different equilibrium values Z are mainly used when the submarine is suspended and stopped underwater4And M4Depth zeta and depth change rate of submarine under actionPitch angle θ, change in pitch angle velocity q.
4. When the submarine is converted from underwater motion to water sailing state, the main ballast water tank needs to be blown off by high-pressure air, and the displacement of the main ballast water tank blown off by the high-pressure air can be solved according to the Bernoulli calculation method.
The pressure at the sea valve of the ballast tank is as follows:
Phi＝Pat+ρg(z0-xBisinθ) (15)
according to the bernoulli equation:
PBi+ghi-Phi＝0.5ρwVhi 2(16)
qBi＝Ch·Vhi·Ahi(18)
Buoy＝VB-VB0(20)
in the formula: phiIs the ambient pressure, P, outside each ballast tankatAt atmospheric pressure, z0The submarine is submerged at the initial submergence depth and is submerged at the same time in the blowing processThe real-time state of the boat changes; x is the number ofBiIs the central longitudinal coordinate of the ballast water tank, theta is the instantaneous longitudinal inclination angle of the submarine, PBiIs the gas pressure in the ballast tanks, hiIs the height of the seawater level in each ballast water tank, VhiIs the discharge rate of the ballast tank, pwIs the density of seawater, qBiIs the discharge flow of the main ballast tank, AhiFor sea valve drainage area, VB0Is the initial gas volume of the ballast tank, VBFor the gas volume, V, of the entire ballast tank during the blowing-off processBiFor the gas volume in the ith ballast tank during the blow-off process, N is the number of blown-off tanks, Buoy is the displacement of the ballast tank, ChFor the drainage loss coefficient, 0.45 may be adopted.
The displacement of the main ballast water tank and the central longitudinal coordinate of the ballast water tank calculated according to the model can be further equivalent to the static load △ P borne by the submarine and the action point x of the static loadP,yP,zPThe simulation solution is performed by using equations (1) to (8).
The above description is only a preferred embodiment of the present invention, and is not intended to limit the steering panel and the submarine steering motion simulation test software in any way. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (6)
1. A submarine steering and balance control simulation test platform comprises a simulation test control platform and submarine steering motion simulation software, wherein the submarine steering motion simulation software comprises simulation algorithm software and display software, and the submarine steering and balance control simulation test platform is characterized in that: the simulation test console comprises a two-degree-of-freedom steering hand wheel with a surrounding shell and an input head steering angle deltabRudder angle deltar(ii) a Tail elevator control knob to input tail rudder angle deltas(ii) a Course control mode change-over switch for determining rudder angle deltarControlled by an operator or automatically generated by a computer; depth control mode change-over switch for determining rudder angle deltabAnd tail rudder angle deltasControlled by an operator or computerDynamic generation, balance operation mode change-over switch, determination of balance regulation static load △ P and static load moment △ MPControlled by an operator or automatically generated by a computer; remote control keyboard of propulsion motor for inputting rotation speed of propulsion motor, i.e. propeller thrust XP(ii) a Automatically steering and balancing an input keyboard, and inputting instruction depth or instruction balancing adjustment quantity; the system comprises a simulation algorithm software water surface motion module, an underwater motion module and a hovering motion module; the display software includes: the method comprises the steps of water quantity display of a simulation test software water tank, test task information display, submarine motion state display, submarine initial motion state setting, submarine simulation state setting, test task process control, test task mode selection, storm setting, submarine control comprehensive display and control and submarine balance comprehensive display and control.
2. The submarine steering and balance control simulation test platform according to claim 1, wherein: the steering hand wheel, the control knob, the course control mode change-over switch, the depth control mode change-over switch, the balance control mode change-over switch, the propulsion motor remote control keyboard and the automatic steering and balance input keyboard are integrated on one panel.
3. The submarine steering and balance control simulation test platform according to claim 1, wherein: the submarine operation simulation test system further comprises a touch liquid crystal screen, and the touch liquid crystal screen is used for compiling operation software according to the requirements of the submarine operation simulation test.
4. A submarine steering and balance control simulation test method comprises a water surface motion module, an underwater motion module and a hovering motion module, wherein the water surface motion module is adopted when the draft of a submarine is less than 5 m; when the draft of the submarine is more than or equal to 5m and the speed of the submarine is more than or equal to 0.1m/s, an underwater motion module is adopted; when the submarine draft is more than or equal to 5m and the navigation speed is less than 0.1m/s, a hovering motion module is adopted; the method is characterized in that:
the water surface motion module adopts a dimensionless hydrodynamic force coefficient as a parameter of a submarine six-freedom-degree space motion equation, and adopts a four-order fixed-step longge vault tower algorithm to measure a heading angle, a drift angle, a transverse inclination angle and a turning heading angle speed of the simulated submarine according to an input rudder angle and a vehicle order signal;
in the underwater motion module, two dimensionless hydrodynamic coefficients of a small attack angle (the attack angle is less than or equal to 12 degrees) and a large attack angle (the attack angle is greater than 12 degrees) are used as parameters of a submarine six-degree-of-freedom space motion equation, the dimensionless hydrodynamic coefficient at the small attack angle is initially taken, a submarine operation motion parameter at each step is iteratively calculated by adopting a fourth-order Runge Kutta algorithm, and the submarine operation motion parameter is calculated according to the four-order Runge Kutta algorithmJudging the current attack angle, and automatically determining the small attack angle coefficient or the large attack angle coefficient adopted in the next iteration; simulating the speed raising rate and the reverse speed of the submarine under the action of different navigational speeds, steering angle control and static load and moment of the submarine, and the change of characteristic parameters in the processes of step steering, trapezoidal steering and z-shaped maneuvering;
the hovering motion module adopts a submarine underwater hovering motion mathematical model to simulate the submarine speed-free depth control under water.
5. The submarine steering and balance control simulation test method according to claim 4, wherein: the method for simulating the hovering motion module comprises the following steps: the amount of compression to approximate cancel the acoustic tile is proportional to the depth of potential:
in the formula, △ C is the buoyancy difference caused under the condition of extreme compression, and H is the submarine depth;
calculating the sum of buoyancy variation caused by seawater density: z3＝Z31+Z32Wherein the amount of buoyancy change is caused to be
In the formula (I), the compound is shown in the specification,
the water is drained completely underwater; rho1、ρ2Respectively the density of the seawater in the original sea area and the new sea area; z32Varying the density for depth changes to cause a change in buoyancy;
calculating the variable quantity of the buoyancy according to a zero lift force and a moment formula thereof;
in the formula, Z0、M0Respectively reducing zero lift force and zero lift moment during natural deceleration; v is the speed of the vehicle when parking is carried out;
then according to the formula
Calculating different equilibrium values Z4And M4Acting on the change condition of the motion parameters of the submarine, wherein m is the submarine quality corresponding to the underwater full displacement; rho is the density of the seawater; l is the length of the submarine; h is the height of the center of stability.
6. The submarine steering and balance control simulation test method according to claim 4, wherein: the submarine simulation system further comprises a motion module when the submarine is converted from underwater motion to water sailing state, and the change of the action point of the static load borne by the submarine and the change of the action point of the static load are simulated according to the Bernoulli calculation method and the submarine six-degree-of-freedom space motion equation.
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