摘要
针对浅水区复杂海流环境水下无人航行器的运动特点,文章开展了海流对水下无人航行器运动特性的影响研究分析。首先,基于浅水区海流特性,分别构建了浅水区层流与紊流数学模型。在此基础上,构建了考虑海流作用的UUV运动模型,并基于该模型分别在层流与紊流环境下开展螺旋下潜运动特性仿真分析,并依此探究浅水区海流对UUV运动的影响规律。仿真结果表明,浅水区海流直接影响水下无人航行器的运动特性,改变其速度与姿态角,从而导致轨迹产生偏移并改变回转半径。在层流环境下,轨迹偏移方向与海流流向角基本一致,但与风向角存在一定差异;在平流风与阵风共同作用下,会同时增大偏移量与回转半径。在紊流环境下,轨迹呈现随机偏移与振荡现象,其中紊流平均速度主导偏移量,紊流强度则同时影响偏移量的波动范围和回转半径的变化幅度,随着紊流强度的增加水平轨迹偏与垂直轨迹移量分别增大到11.105 m、2.004 m,回转半径由4.578 m增大到8.097 m。研究结果可为浅水区水下无人航行器的路径规划与自适应控制提供理论依据,具有一定的工程应用价值。
This paper investigates the influence of ocean currents on the motion characteristics of underwater unmanned vehicles(UUV)operating in complex current environments within shallow waters.First,based on the characteristics of shallow-water currents,mathematical models are established for both laminar and turbulent flows.Subsequently,a UUV motion model incorporating current effects is developed.Utilizing this model,simulation analyses of spiral diving motion characteristics are conducted under both laminar and turbulent flow conditions to explore the impact of shallow-water currents on UUV motion.Simulation results demonstrate that shallow-water currents directly affect the UUV motion characteristics,altering its velocity and attitude angles,consequently leading to trajectory deviation and changes in turning radius.Under laminar flow,the trajectory deviation direction aligns primarily with the current direction angle but differs from the wind direction angle.The combined action of steady and gusty winds increases both the deviation distance and turning radius.Under turbulent flow,trajectories exhibit random deviations and oscillations.Here,the turbulent mean velocity dominates the deviation magnitude,while the turbulent intensity influences both the fluctuation range of the deviation and the variation amplitude of the turning radius.As turbulent intensity increases,the horizontal and vertical trajectory deviations increase to 11.105 m and 2.004 m,respectively,and the turning radius increases from 4.578 m to 8.097 m.These findings provide a theoretical basis for path planning and adaptive control strategies of UUV in shallow-water regions,demonstrating practical engineering value.
作者
耿学龙
明超
徐梓赫
白志恒
冯彤
GENG Xuelong;MING Chao;XU Zihe;BAI Zhiheng;FENG Tong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China)
出处
《弹箭与制导学报》
北大核心
2025年第5期953-960,共8页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
国家自然科学基金(52002185)资助。
关键词
水下无人航行器
浅水区
海流
运动特性分析
unmanned underwater vehicle(uuv)
shallow water area
ocean current
motion characteristics analysis
