水下滑翔机是一种节能型水下航行器，其转弯运动可近似视为稳态螺旋运动的一部分。为指导水下滑翔机在限制水域（近海底或近壁面）内的转向运动，本文对水下滑翔机稳态螺旋运动的时间、空间尺度特征开展分析。基于水下滑翔机的运动学和动力学方程，建立了其稳态螺旋运动的仿真方法，并与已公开发表的结果进行对比验证。分析稳态螺旋运动的轨迹特点，给出了其时间、空间尺度特征描述方法，并建立了时空尺度特征的研究思路。以Seawing水下滑翔机为例，定量地揭示了时空尺度特征随控制参数间的变化规律，并发现了上浮和下潜运动中变化规律的不同之处。
The underwater glider is a kind of energy saving underwater vehicle, and its turning motion can be approximately regarded as a part of steady spiral motion. In order to guide the turning motion of underwater glider in restricted waters (near the bottom or near the wall), the temporal and spatial scale characteristics of the steady spiral motion of an underwater glider are analyzed. Based on the kinematics and dynamics equations of the underwater glider, the simulation method of steady spiral motion is established, and it is verified by the comparison with the published results. Through the analysis of the steady spiral trajectory, the description method of temporal and spatial scales is given, and the research ideas of the temporal and spatial scales are established. Taking the Seawing underwater glider as an example, the variation law of the temporal and spatial scales with control parameters is revealed quantitatively, and the differences between the upward spiral motion and the downward spiral motion are found.
2019,41(1): 71-75,106 收稿日期：2017-11-16
DOI：10.3404/j.issn.1672-7649.2019.01.013
分类号：U674.941
基金项目：国家重点研发计划重点专项资助项目（2016YFC0301500）；中央高校基本科研业务资助项目（3132017032）；国家自然科学基金资助项目（51709030，51679021，51379025）；辽宁省博士启动资金资助项目（20170520436）
作者简介：于鹏垚(1988-),男,博士,讲师,研究方向为船舶与水下航行器水动力与运动性能
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