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Method for retrieving falling depth of X-rudder submarine

A technology of submarines and equations, which is applied to ships, underwater ships, special-purpose ships, etc., and can solve problems such as unfavorable concealment of submarines

Active Publication Date: 2020-04-07
NAVAL UNIV OF ENG PLA
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  • Description
  • Claims
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Problems solved by technology

But once the high-pressure gas is used, the submarine must float to the water surface to escape, which is very unfavorable for the concealment of the submarine

Method used

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  • Method for retrieving falling depth of X-rudder submarine
  • Method for retrieving falling depth of X-rudder submarine
  • Method for retrieving falling depth of X-rudder submarine

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Embodiment Construction

[0077] first part

[0078] The invention will be described in detail below in conjunction with specific embodiments.

[0079] Such as figure 1 As shown, a kind of X rudder submarine of the present invention falls deep and restores the method, comprises the following steps:

[0080] Step 1. Construct the X-rudder submarine space motion model;

[0081] A1. The underwater space motion of a submarine can be divided into translation and rotation along the three directions (X, Y, Z) of the hull motion coordinate system. Research and Development Center DTNSRDC --- "Standard Motion Equations for Submarine Simulation Research"), establishes a dynamic coordinate system with the center of gravity of the submarine as the origin, and constructs a six-degree-of-freedom space motion equation for cross-rudder submarines;

[0082] Including ①

[0083] Among them, m is the mass of the submarine; I i is the moment of inertia of the submarine about the coordinate axes of the moving coordin...

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Abstract

The invention belongs to the technical field of submarine falling depth retrieval control, and particularly relates to a method for retrieving falling depth of an X-rudder submarine. The method comprises the following steps: establishing a moving coordinate system by taking the center of gravity of the submarine as an original point, constructing a six-degree-of-freedom spatial motion equation ofthe cross rudder submarine, constructing an X rudder control force equation, and constructing a six-degree-of-freedom spatial motion equation of the X rudder submarine; iteratively solving a six-degree-of-freedom spatial motion equation of the X-rudder submarine by utilizing a four-order Runge-Kutta method; constructing a head rudder fuzzy controller and an X rudder fuzzy controller, determining acorresponding rule of X rudder manipulation, and constructing a steering fuzzy rule. The deepened depth retrieval efficiency of density mutation 0.5% is obviously improved; meanwhile, in combinationwith the scheme of longitudinal inclination auxiliary retrieval, the beneficial effect of the hull posture on depth drop retrieval is effectively utilized, the severe depth drop with the density abrupt change of 1% can be successfully retrieved, the pressure of the first rudder is relieved through longitudinal inclination auxiliary, the first rudder has the capability of continuing to operate, andthe retrieval success rate is effectively guaranteed.

Description

technical field [0001] The invention belongs to the technical field of submarine depth recovery control, and in particular relates to an X-rudder submarine depth recovery method. Background technique [0002] In recent years, in order to meet the needs of the new era, the speed of submarines has continued to increase, new control surfaces have continued to emerge, and the difficulty of operating the boat and the danger of submarines have continued to increase. At the same time, the continuous innovation of anti-submarine technology has further reduced the safe underwater navigation of submarines. space. Therefore, how to improve the recovery success rate under the submarine failure condition, enhance the safety of the submarine's underwater movement, and give full play to the performance of the submarine has become an important indicator of the safe navigation of the submarine. [0003] At present, the first choice to deal with the submarine's deep drop is to escape the dan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/14B63G8/24
CPCB63G8/14B63G8/24
Inventor 黄斌吕帮俊彭利坤何曦光
Owner NAVAL UNIV OF ENG PLA
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