“CR-02”AUV无动力下潜运动预报

本文针对“CR- 0 2”AUV海试前的无动力下潜运动进行了预报 .该文在建立 AUV无动力下潜运动数学模型基础上 ,研究分析了其稳态运动的特点 ,提出了下潜深度变化率和纵倾角是描述 AUV无动力下潜运动的重要参数 ,并获得了它们的解析表达式 ,无需使用计算机 ,就能快速、方便、准确地确定上述参数 ,并选取适当的下潜压载 ,以提高下潜速度 ,减少下潜时间 ,该方法具实际应用价值 .

This paper is used for predicting "CR  02" AUV unpowered diving before the sea test. It's based on developing mathematical model for AUV unpowered diving motion, theoretical analysis of steady motion of AUV, presents the theoretical expression about diving pitch   θ   and diving depth velocity   u  z   ,those are important parameters used to describe diving motion and can be calculated quickly. Appropriate diving ballast can increase AUV diving speed and reduce diving time. This method has practical value.