A method for recovering the depth of an 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: 2021-01-26
NAVAL UNIV OF ENG PLA
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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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  • A method for recovering the depth of an X-rudder submarine
  • A method for recovering the depth of an X-rudder submarine
  • A method for recovering the depth of an X-rudder submarine

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Embodiment Construction

[0079] first part

[0080] The invention will be described in detail below in conjunction with specific embodiments.

[0081] 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:

[0082] Step 1. Construct the X-rudder submarine space motion model;

[0083] 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;

[0084] Including ①

[0085] 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 depth recovery control, and in particular relates to an X-rudder submarine depth recovery method. The method includes the following steps: establishing a dynamic coordinate system with the center of gravity of the submarine as the origin, constructing the six-degree-of-freedom space motion equation of the cross-rudder submarine, constructing the X-rudder steering force equation, and constructing the six-degree-of-freedom space motion equation of the X-rudder submarine; using the fourth-order Runge-Kutta method Iteratively solve the six-degree-of-freedom space motion equation of the X-rudder submarine; construct the fuzzy controller of the bow rudder and the X-rudder, determine the corresponding law of the X-rudder manipulation, and construct the steering fuzzy rule; The drop recovery efficiency of 5‰ suppresses the depth fluctuation. At the same time, combined with the pitch-assisted recovery scheme, the beneficial effect of the hull posture on the drop recovery can be effectively used. Not only can the serious drop of 1% of the density mutation be successfully recovered, Moreover, the "pressure" of the bow rudder is relieved through trim assistance, so that it has the ability to continue to operate, and effectively guarantees the recovery success rate.

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 Patents(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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