Balance weight calculation method for underwater vehicle with permeable structure

Abstract

The invention provides a balance weight calculation method for an underwater vehicle with a permeable structure, and the method comprises the steps: firstly building a three-dimensional geometric model of the shape of the underwater vehicle, and determining the overall drainage volume and buoyancy center position coordinates of the model; calculating the overall mass and gravity center position coordinates of the underwater vehicle through the non-permeable cabin section and the permeable cabin section and considering the envelope water of the permeable cabin section; and finally, calculating the integral buoyancy center coordinate of the underwater vehicle, comparing the integral buoyancy center coordinate with the buoyancy center coordinate obtained through the three-dimensional geometric model to check whether the calculation result is correct or not, and if the two results are the same, determining that the whole balance weight calculation has no problem. According to the method for calculating the balance weight of the underwater vehicle, the envelope water in the permeable structure of the underwater vehicle is considered, the calculation precision is high, the result is stable, the balance weight period of a product can be greatly shortened, and the method has an important guiding effect on balance weight and attitude adjustment of the underwater vehicle, especially a large-scale or ultra-large-scale UUV before the underwater vehicle enters the water.

Description

Technical Field

[0001] The present invention belongs to the technical field of overall design of underwater vehicles, and in particular relates to a weight calculation method for an underwater vehicle with a permeable structure. Background Art

[0002] To meet diverse mission requirements, such as deep-sea resource exploration, marine environmental monitoring, and seafloor topography mapping, deep diving and large-scale underwater vehicles (AUVs) are becoming key development trends. At deep diving, hydrostatic pressure increases dramatically. Traditional fully pressure-resistant structures result in excessive vehicle weight, impacting maneuverability and endurance. To address this, modern AUVs often employ a permeable design, where some compartments utilize non-pressure-resistant permeable structures, while others utilize pressure hulls to withstand external water pressure. Permeable structures, which are not subject to hydrostatic pressure, primarily consist of an outer skin, an internal frame, and buoyancy materials, with the pressure hull enclosed within the permeable frame. This hybrid design significantly reduces overall weight, but also makes calculating the vehicle's gravimetric parameters more difficult. Currently, accurately calculating the gravimetric parameters of AUVs containing permeable structures is crucial for overall AUV layout and design, as well as for their proper operation.

[0003] At present, the weight calculation of underwater vehicles is mainly based on the calculation and assumption of non-permeable structures. For example, "Analysis and Engineering Calculation Method of Floating Attitude of Torpedo at the End of Voyage" (Torpedo Technology, October 2014, Vol. 22, No. 5, pp. 325-328) proposed an intuitive, concise and practical engineering calculation method for the floating attitude of torpedoes. However, this article does not involve the calculation of weight parameters of underwater vehicles, especially underwater vehicles with permeable structures. Therefore, there is currently a lack of calculation methods for weight parameters of underwater vehicles with permeable structures, which leads to large errors in the calculation of weight parameters of underwater vehicles and causes the failure of underwater vehicles to be launched. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem in the prior art that the traditional underwater vehicle weight calculation method does not take the permeable structure into consideration, resulting in large errors in the calculation of the underwater vehicle's weight parameters, and to provide a method for calculating the weight of an underwater vehicle containing a permeable structure.

[0005] To achieve the above objectives, the technical solutions provided by the present invention are:

[0006] A method for calculating the weight of an underwater vehicle having a permeable structure is provided, comprising the following steps:

[0007] Step 1: Construct a 3D geometric model of the underwater vehicle, establish an overall coordinate system, and determine the displacement volume and buoyancy center coordinates of the 3D geometric model;

[0008] Step 2: Divide the 3D geometric model into N compartments, including multiple impermeable compartments and multiple permeable compartments;

[0009] Step 3: Based on the design process and actual operating conditions of the underwater vehicle, calculate the mass and center of gravity coordinates of all components in each non-permeable compartment, as well as the mass, center of gravity coordinates, gravitational moment, and buoyancy moment of each non-permeable compartment;

[0010] Step 4: Based on the design process and actual operating conditions of the underwater vehicle, calculate the mass, center of gravity coordinates, displacement, gravitational moment, and buoyancy moment of all components in each permeable tank section except the envelope water;

[0011] Step 5: Calculate the volume, mass, center of gravity position coordinates, center of buoyancy position coordinates, gravitational moment and buoyancy moment of the enveloping water in each permeable tank section;

[0012] Step 6: Based on the mass and center of gravity coordinates of all components in each permeable tank section except the envelope water obtained in step 4, and the mass and center of gravity coordinates of the envelope water in each permeable tank section obtained in step 5, calculate the mass, center of gravity coordinates, gravitational moment, and buoyancy moment of each permeable tank section as a whole;

[0013] Step 7: Calculate the mass and center of gravity coordinates of the underwater vehicle as a whole based on the mass and center of gravity coordinates of each non-permeable compartment obtained in Step 3 and the mass and center of gravity coordinates of the entire permeable compartment obtained in Step 6;

[0014] Step 8: Calculate the overall buoyancy center position coordinates of the underwater vehicle based on the buoyancy moment obtained in Steps 3 to 6, and compare them with the buoyancy center position coordinates of the geometric model in Step 1. If the ratio of the error between the two and the overall displacement of the underwater vehicle is ≤1 / 1000, then the overall mass and center of gravity position coordinates of the underwater vehicle are calculated correctly; if the ratio of the error between the two and the overall displacement of the underwater vehicle is greater than 1 / 1000, check Steps 1 to 7. If it is found that the weight and center of gravity position of each component in the non-permeable section and the permeable section are calculated incorrectly, correct them until the ratio of the calculated overall buoyancy center position coordinates of the underwater vehicle and the buoyancy center position coordinates of the geometric model to the overall displacement of the underwater vehicle is ≤1 / 1000.

[0015] Furthermore, in steps 3 and 4, the design process and actual operating conditions of the underwater vehicle include:

[0016] The calculated weight of the metal welded structures involved in the components of the underwater vehicle is 104% to 105% of the theoretical weight value during design; the calculated weight of the buoyancy materials involved in the components of the underwater vehicle is 100.5% to 101% of the displacement volume; the displacement volume of the pressure-resistant cabin of the underwater vehicle at great depth is calculated through finite element simulation.

[0017] Furthermore, in step 3, the mass of each non-permeable tank section is calculated by the formula The coordinates of the center of gravity are calculated using the following formula:

[0018]

[0019] Where i′ represents the number of the non-permeable compartment, j′ represents the number of the component in the non-permeable compartment, M i′ represents the mass of the i′th non-permeable tank section, M i′j′ represents the mass of the j′th component in the i′th non-permeable tank section, m′ represents the total number of components in the non-permeable tank section, and X Gi′ 、Y Gi′ , Z Gi′ The horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the ith non-permeable tank section are represented in turn. (M i′j′ X Gi′j′ , M i′j′ Y Gi′j′ , M i′j′ Z Gi′j′ ) represents the gravity moment of the j′th component in the i′th non-permeable tank section, X Gi′j′ 、Y Gi′j′ 、Y Gi′j′ The horizontal coordinate, vertical coordinate and vertical coordinate respectively represent the center of gravity position of the j′th component in the i′th non-permeable tank section.

[0020] Furthermore, in step 5, the volume and mass of the enveloping water are calculated by the following formulas:

[0021]

[0022]

[0023] Where V 水 Represents the volume of enveloping water, M 水 represents the mass of the enveloping water, ρ represents the density of water in the underwater vehicle working area, i″ represents the number of the permeable compartment, V i″ represents the model displacement volume of the i-th permeable tank section, j" represents the number of the component in the permeable tank section, V i″j″represents the displacement volume of the j″th component in the ith permeable tank section, and m″ represents the total number of components in the permeable tank section.

[0024] Furthermore, in step 5, the coordinates of the center of buoyancy and the center of gravity of the enveloping water are calculated by the following formulas:

[0025]

[0026] X G水 =X B水 , Y G水 =Y B水 , Z G水 =Z B水

[0027] where X B水 、Y B水 , Z B水 The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the envelope water are represented respectively. Bi″ 、Y Bi″ , Z Bi″ The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the i-th permeable tank section are respectively represented. Bi″j″ 、Y Bi″j″ , Z Bi″j″ The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the jth component in the i'th permeable tank section excluding the envelope water are respectively represented. G水 、Y G水 , Z G水 The horizontal, vertical and vertical coordinates represent the center of gravity of the envelope water respectively.

[0028] Furthermore, in step 6, the mass of each permeable tank section is calculated by the formula The coordinates of the center of gravity are calculated using the following formula:

[0029]

[0030] Among them, M i″ Represents the mass of the entire i″th permeable tank section, M i″j″ represents the mass of the jth component in the ith permeable tank section excluding the envelope water, (M i″ X Gi″ ,M i″ Y Gi″ ,M i″ Z Gi″ ) represents the gravity moment of the jth component in the i-th permeable tank section, X Gi″j″ 、Y Gi″j″ , Z Gi″j″The horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the jth component in the i-th permeable tank section are respectively represented. Gi″ 、Y Gi″ , Z Gi″ The horizontal, vertical and vertical coordinates represent the center of gravity of the i-th permeable tank section respectively.

[0031] Furthermore, in step 7, the overall mass of the underwater vehicle is calculated by the formula The coordinates of the center of gravity are calculated using the following formulas:

[0032]

[0033] Among them, M i represents the mass of the i-th compartment, X Gi 、Y Gi , Z Gi They represent the horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the i-th compartment respectively, M represents the overall mass of the underwater vehicle, X G0 、Y G0 , Z G0 They represent the horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the underwater vehicle respectively.

[0034] Furthermore, in step 8, the overall buoyancy center position coordinates of the underwater vehicle are calculated using the following formula:

[0035]

[0036] where X B 、Y B , Z B The horizontal coordinate, vertical coordinate and vertical coordinate of the overall buoyancy center of the underwater vehicle are represented respectively. Bi 、Y Bi , Z Bi They represent the horizontal, vertical and vertical coordinates of the buoyancy center of the i-th compartment respectively.

[0037] The advantages of the present invention are:

[0038] The underwater vehicle weight calculation method designed in the present invention solves the problem that traditional methods do not consider the existence of water in permeable structures, resulting in large errors in the calculation of the underwater vehicle's weight parameters. The present invention divides the underwater vehicle into a permeable section and a non-permeable section, and obtains the overall weight of the vehicle based on the calculation results of the permeable section and the calculation results of the non-permeable section. In the calculation results of the permeable section and the calculation of the non-permeable section, the manufacturing process, material properties and actual operating conditions of the components in the underwater vehicle are considered, and the envelope water is considered in the calculation of the permeable section, thereby making the calculation results of the underwater vehicle's weight parameters more accurate, which can ensure the safe operation of the underwater vehicle, not only can it greatly shorten the underwater vehicle weight calculation time, but also can solve the problem of underwater vehicle launching failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The features and advantages of the present invention will become more readily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and in which some features are exaggerated or minimized to show details of particular components.

[0040] Figure 1 It is a schematic structural diagram of an underwater vehicle with a water-permeable structure according to the present invention. DETAILED DESCRIPTION

[0041] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration and is not intended to limit the present invention.

[0042] In order to solve the problem that the conventional underwater vehicle weight calculation method does not take the permeable structure into consideration, resulting in large errors in the calculation of the underwater vehicle weight parameters and causing the underwater vehicle to fail to launch, this embodiment provides an underwater vehicle weight calculation method containing a permeable structure.

[0043] The underwater vehicle weight calculation method includes the following steps:

[0044] Step 1: Build Figure 1 The three-dimensional geometric model of the underwater vehicle is shown, and the overall coordinate system is established to determine the displacement volume V and the buoyancy center position coordinates (X B0 , Y B0 , Z B0 ).

[0045] The geometric model is designed based on the shape of the underwater vehicle (including fins, rudders, propellers and other components) in the design software. The design software used in this embodiment is Solidworks. The displacement volume V and the buoyancy center position coordinates (X B0 , Y B0 , ZB0 ) can be directly queried through Solidworks.

[0046] Step 2: If Figure 1 As shown, the three-dimensional geometric model is divided into N compartments according to the underwater vehicle compartment. In this embodiment, there are 6 sections, namely H1, H2, H3, H4, H5, and H6, including multiple non-permeable compartments and one permeable compartment. i represents the compartment number, and the value of i is 1, 2, 3, 4, 5, and 6; i′ represents the non-permeable compartment number, and i″ represents the permeable compartment number. In this embodiment, H1-H3 and H5-H6 are non-permeable compartments, and i′=1, 2, 3, 5; H4 is a permeable compartment, and i″=4. Then the displacement volume of each compartment (V1, V2, ..., V N ) and the buoyancy center coordinates ((X B1 , Y B1 , Z B1 ), (X B2 , Y B2 , Z B2 ),…,(X BN , Y BN , Z BN )); Establish a weight calculation table for the entire underwater vehicle as shown in Table 1.

[0047] Table 1 Calculation table of overall weighing parameters of underwater vehicles

[0048]

[0049]

[0050] Step 3: Establish a calculation table of weighing parameters for the non-permeable compartment as shown in Table 2, and calculate the mass M of each component in each non-permeable compartment. i′j′ and the center of gravity coordinates (X Gi′j′ , Y Gi′j′ , Z Gi′j′ ), and the mass M of each non-permeable tank i′ 、Center of gravity coordinates (X Gi′ , X Gi′ , X Gi′ ), gravitational moment and buoyancy moment.

[0051] The mass of each non-permeable tank is calculated by the formula The coordinates of the center of gravity are calculated using the following formula:

[0052]

[0053] Where j′ represents the number of the components in the non-permeable tank section, m′ represents the total number of components in the non-permeable tank section, (Mi′j′ X Gi′j′ ,M i′j′ Y Gi′j′ ,M i′j′ Z Gi′j′ ) represents the gravitational moment of the j′th component in the i′th impermeable tank section.

[0054] Table 2 takes the non-permeable compartment H1 as an example, i′=1, and fills the results into Table 2, where the gravity moment and buoyancy moment are calculated using the formulas in Table 2.

[0055] Table 2 Calculation table of weighing parameters of non-permeable tank section (taking non-permeable tank section H1 as an example)

[0056]

[0057] The mass of the first compartment is The coordinates of the center of gravity are expressed as:

[0058]

[0059] Step 4: Establish a calculation table of weighing parameters for the permeable tank section as shown in Table 3, and calculate the mass M of each component in each permeable tank section except the envelope water. i″j″ 、Center of gravity coordinates (X Gi″j″ ,Y Gi″j″ ,Z Gi″j″ ), displacement, gravity moment and buoyancy moment, buoyancy center position coordinates (X Bi″j″ , Y Bi″j″ , Z Bi″j″ ) is provided by the production unit of each component. In this embodiment, i″=4 in the permeable compartment. The results are entered into Table 3, where the displacement, gravity moment, and buoyancy moment are calculated using the formulas in Table 3.

[0060] Table 3 Calculation table of weighing parameters in permeable tank section (Section 4 H4)

[0061]

[0062] In steps 3 and 4, the following factors need to be considered when calculating:

[0063] (1) The metal welded structures involved in the assembly components have an increased weight due to the welds, so the calculated weight is 104% to 105% of the theoretical weight value at the time of design;

[0064] (2) The buoyancy materials involved in the assembly increase in weight due to water absorption, and the weight when calculated is 100.5%-101% of its displacement volume;

[0065] (3) The displacement volume of the underwater vehicle's pressure-resistant cabin at great depth is calculated through finite element simulation.

[0066] This method takes into account the increase in weld weight during the actual construction of the underwater vehicle, the buoyancy loss caused by water absorption by the buoyancy material and the volume change of the pressure cabin during the actual use of the underwater vehicle. The calculation results are more stable and reliable, which can ensure the safe operation of the underwater vehicle.

[0067] Step 5: Calculate the volume V of the enclosed water in each permeable tank section 水 、Quality M 水 、Center of gravity coordinates (X G水 ,Y G水 ,Z G水 ), center of buoyancy position coordinates (X B水 ,Y B水 ,Z B水 ), gravity moment and buoyancy moment, and fill the results into Table 3, where the gravity moment and buoyancy moment are calculated using the calculation formula in Table 3;

[0068] Volume of enveloping water V 水 and quality M 水 Calculated by the following formula:

[0069]

[0070] Where ρ represents the density of water in the underwater vehicle working area, i″ represents the number of the permeable compartment, V i″ represents the model displacement volume of the i-th permeable tank section, j" represents the number of the component in the permeable tank section, V i″j″ represents the displacement volume of the jth component in the ith permeable tank section, and m" represents the total number of components in the permeable tank section. The buoyancy center position coordinates of the envelope water (X B水 , Y B水 , Z B水 ) and the center of gravity coordinates (X G水 , Y G水 , Z G水 ) are calculated by the following formulas:

[0071]

[0072] X G水 =X B水 , Y G水 =Y B水 , Z G水 =Z B水

[0073] where X Bi″ 、Y Bi″ , Z Bi″The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the i-th permeable compartment in the global coordinate system of the underwater vehicle are represented respectively.

[0074] This embodiment takes the fourth section H4 as an example. In the permeable compartment, i″=4, then:

[0075] Step 6: Based on the mass M of the j″th component in each permeable tank section excluding the envelope water obtained in step 4 i″j″ 、Center of gravity coordinates (X Gi″j″ , Y Gi″j″ , Z Gi″j″ ), and the mass M of the envelope water in each permeable compartment obtained in step 5 水 、Center of gravity coordinates (X G水 , Y G水 , Z G水 ) Calculate the mass M of the entire i″th permeable tank section i″ 、Center of gravity coordinates (X Gi″ , Y Gi″ , Z Gi″ ), fill in the results in Table 1, and calculate the gravity moment and buoyancy moment using the formula in Table 1.

[0076] The mass M of the entire i″th permeable tank section i″ and the center of gravity coordinates (X Gi″ , Y Gi″ , Z Gi″ ) are calculated by the following formulas:

[0077]

[0078] Among them, M i″j″ represents the mass of the jth component in the ith permeable tank section excluding the envelope water, (M i″ X Gi″ ,M i″ Y Gi″ ,M i″ Z Gi″ ) represents the gravitational moment of the jth component in the i'th permeable tank section.

[0079] For the H4 permeable tank section 4 of the underwater vehicle, there are:

[0080] Step 7: Based on the mass M of the multiple non-permeable tanks in step 3 i′ and the center of gravity coordinates (X Gi′ , X Gi′ , X Gi′), and the mass M of the entire permeable tank section obtained in step 6 i″ and the center of gravity coordinates (X Gi″ , Y Gi″ , Z Gi″ ), calculate the overall mass M of the underwater vehicle, expressed as: Center of gravity coordinates (X G0 , Y G0 , Z G0 ), calculated using the following formula:

[0081]

[0082] Among them, M i represents the mass of the i-th compartment, X Gi 、Y Gi , Z Gi They represent the horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the i-th compartment respectively, and M represents the overall mass of the underwater vehicle.

[0083] Step 8: Calculate the overall buoyancy center position coordinates (X B , Y B , Z B ), calculated using the following formula:

[0084]

[0085] where X Bi 、Y Bi , Z Bi The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center position of the i-th compartment are represented in turn; the calculated overall buoyancy center position coordinate of the underwater vehicle (X B , Y B , Z B ) and the buoyancy center coordinates (X B0 , Y B0 , Z B0 ) are compared. If the ratio of the error between the two and the displacement of the underwater vehicle as a whole is ≤1 / 1000, the mass and center of gravity position coordinates of the underwater vehicle as a whole are calculated correctly; if the ratio of the error between the two and the displacement of the underwater vehicle as a whole is >1 / 1000, check steps 1 to 7. If it is found that the weight and center of gravity position of each component in the non-permeable section and the permeable section are calculated incorrectly, correct them until the ratio of the calculated center of buoyancy position coordinates of the underwater vehicle as a whole and the center of buoyancy position coordinates of the geometric model to the displacement of the underwater vehicle as a whole is ≤1 / 1000.

[0086] The present invention provides a method for calculating the weight of an underwater vehicle with a permeable structure, which is applicable to underwater vehicles of different sizes, shapes and structures.

[0087] Finally, it should be noted that the features mentioned and / or illustrated in the above description of the exemplary embodiments of the present invention may be incorporated into one or more other embodiments in the same or similar manner, combined with features in other embodiments, or substituted for corresponding features in other implementations. The technical solutions obtained by such combination or substitution shall also be deemed to be included in the scope of protection of the present invention.

Claims

1. A method for calculating the weight of an underwater vehicle having a permeable structure, characterized in that: The following steps are involved: Step 1: Construct a 3D geometric model of the underwater vehicle, establish an overall coordinate system, and determine the displacement volume and buoyancy center coordinates of the 3D geometric model; Step 2: Divide the 3D geometric model into N compartments, including multiple impermeable compartments and multiple permeable compartments; Step 3: Based on the design process and actual operating conditions of the underwater vehicle, calculate the mass and center of gravity coordinates of all components in each non-permeable compartment, as well as the mass, center of gravity coordinates, gravitational moment, and buoyancy moment of each non-permeable compartment; Step 4: Based on the design process and actual operating conditions of the underwater vehicle, calculate the mass, center of gravity coordinates, displacement, gravitational moment, and buoyancy moment of all components in each permeable tank section except the envelope water; Step 5: Calculate the volume, mass, center of gravity position coordinates, center of buoyancy position coordinates, gravitational moment and buoyancy moment of the enveloping water in each permeable tank section; Step 6: Based on the mass and center of gravity coordinates of all components in each permeable tank section except the envelope water obtained in step 4, and the mass and center of gravity coordinates of the envelope water in each permeable tank section obtained in step 5, calculate the mass, center of gravity coordinates, gravitational moment, and buoyancy moment of each permeable tank section as a whole; Step 7: Calculate the mass and center of gravity coordinates of the underwater vehicle as a whole based on the mass and center of gravity coordinates of each non-permeable compartment obtained in Step 3 and the mass and center of gravity coordinates of the entire permeable compartment obtained in Step 6; Step 8: Calculate the overall buoyancy center position coordinates of the underwater vehicle based on the buoyancy moment obtained in Steps 3 to 6, and compare them with the buoyancy center position coordinates of the geometric model in Step 1. If the ratio of the error between the two and the overall displacement of the underwater vehicle is ≤1 / 1000, then the overall mass and center of gravity position coordinates of the underwater vehicle are calculated correctly; if the ratio of the error between the two and the overall displacement of the underwater vehicle is greater than 1 / 1000, check Steps 1 to 7. If it is found that the weight and center of gravity position of each component in the non-permeable section and the permeable section are calculated incorrectly, correct them until the ratio of the calculated overall buoyancy center position coordinates of the underwater vehicle and the buoyancy center position coordinates of the geometric model to the overall displacement of the underwater vehicle is ≤1 / 1000.

2. The underwater vehicle weight calculation method according to claim 1, characterized in that: In steps 3 and 4, the design process and actual operating conditions of the underwater vehicle include: The calculated weight of the metal welded structures involved in the components of the underwater vehicle shall be 104% to 105% of the theoretical weight at the time of design; The weight of buoyancy materials involved in the components of underwater vehicles is calculated to be 100.5%-101% of the displacement volume; The displacement volume of the underwater vehicle's pressure-resistant cabin at great depth is calculated through finite element simulation.

3. The underwater vehicle weight calculation method according to claim 2, characterized in that: In step 3, the mass of each non-permeable tank section is calculated by the formula The coordinates of the center of gravity are calculated using the following formula: Where i′ represents the number of the non-permeable compartment, j′ represents the number of the component in the non-permeable compartment, M i′ represents the mass of the i′th non-permeable tank section, M i′j′ represents the mass of the j′th component in the i′th non-permeable tank section, m′ represents the total number of components in the non-permeable tank section, and X Gi′ 、Y Gi′ , Z Gi′ The horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the ith non-permeable tank section are represented in turn. (M i′j′ X Gi′j′ , M i′j′ Y Gi′j′ , M i′j′ Z Gi′j′ ) represents the gravity moment of the j′th component in the i′th non-permeable tank section, X Gi′j′ 、Y Gi′j′ , Z Gi′j′ The horizontal coordinate, vertical coordinate and vertical coordinate respectively represent the center of gravity position of the j′th component in the i′th non-permeable tank section.

4. The underwater vehicle weight calculation method according to claim 2, characterized in that: In step 5, the volume and mass of the enveloping water are calculated using the following formulas: Where V 水 Represents the volume of enveloping water, M 水 represents the mass of the enveloping water, ρ represents the density of water in the underwater vehicle working area, i″ represents the number of the permeable compartment, V i″ represents the model displacement volume of the i-th permeable tank section, j" represents the number of the component in the permeable tank section, V i″j″ represents the displacement volume of the j″th component in the ith permeable tank section, and m″ represents the total number of components in the permeable tank section.

5. The underwater vehicle weight calculation method according to claim 4, characterized in that: In step 5, the coordinates of the center of buoyancy and the center of gravity of the enveloping water are calculated using the following formulas: X G水 =X B水 ,Y G水 =Y B水 ,Z G水 =Z B水 where X B水 、Y B水 , Z B水 The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the envelope water are represented respectively. Bi″ 、Y Bi″ , Z Bi″ The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the i-th permeable tank section are respectively represented. Bi″j″ 、Y Bi″j″ , Z Bi″j″ The horizontal coordinate, vertical coordinate and vertical coordinate of the buoyancy center of the jth component in the i'th permeable tank section excluding the envelope water are respectively represented. G水 、Y G水 , Z G水 The horizontal, vertical and vertical coordinates represent the center of gravity of the envelope water respectively.

6. The underwater vehicle weight calculation method according to claim 5, characterized in that: In step 6, the mass of each permeable tank section is calculated by the formula The coordinates of the center of gravity are calculated using the following formula: Among them, M i″ Represents the mass of the entire i″th permeable tank section, M i″j″ represents the mass of the jth component in the ith permeable tank section excluding the envelope water, (M i″ X Gi″ ,M i″ Y Gi″ ,M i″ Z Gi″ ) represents the gravity moment of the jth component in the i-th permeable tank section, X Gi″j″ 、Y Gi″j″ , Z Gi″j″ The horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the jth component in the i-th permeable tank section are respectively represented. Gi″ 、Y Gi″ , Z Gi″ The horizontal, vertical and vertical coordinates represent the center of gravity of the i-th permeable tank section respectively.

7. The underwater vehicle weight calculation method according to claim 6, characterized in that: In step 7, the overall mass of the underwater vehicle is calculated by the formula The coordinates of the center of gravity are calculated using the following formulas: Among them, M i represents the mass of the i-th compartment, X Gi 、Y Gi , Z Gi They represent the horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the i-th compartment respectively, M represents the overall mass of the underwater vehicle, X G0 、Y G0 , Z G0 They represent the horizontal coordinate, vertical coordinate and vertical coordinate of the center of gravity of the underwater vehicle respectively.

8. The underwater vehicle weight calculation method according to claim 7, characterized in that: In step 8, the coordinates of the center of buoyancy of the underwater vehicle are calculated using the following formula: where X B 、Y B , Z B The horizontal coordinate, vertical coordinate and vertical coordinate of the overall buoyancy center of the underwater vehicle are represented respectively. Bi 、Y Bi , Z Bi They represent the horizontal, vertical and vertical coordinates of the buoyancy center of the i-th compartment respectively.

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