深海载人潜水器是海洋开发的前沿与制高点之一，其外形较大且复杂，因而动力学模型高度非线性耦合。以“蛟龙”号载人潜水器为研究对象，建立运动学和动力学模型，首次采用“蛟龙”号在太平洋试验数据对其模型进行仿真计算验证。通过模型仿真结果与实际的下潜数据进行反馈对比，验证其六自由度模型。研究结果可为复杂外形深海潜器的运动仿真、控制调试和航行监测提供参考，具有一定的工程价值。
Deep sea manned submersible is one of the frontiers and commanding heights of ocean development. Its shape is large and complex, so its dynamic model is highly nonlinear coupling. Taking the Jiaolong manned submersible as the research object, the kinematics and dynamics models are established, and the model is verified by simulation calculation with the test data of Jiaolong in the Pacific Ocean for the first time. The six degree of freedom model is verified by comparing the simulation results with the actual data. The research results can provide a reference for motion simulation, control debugging and navigation monitoring of deep-sea vehicles with complex shapes, and have certain engineering value.
2021,43(6): 62-65 收稿日期：2020-08-05
DOI：10.3404/j.issn.1672-7649.2021.06.012
分类号：U674.941
基金项目：国家重点研发计划项目(2016YFC0300600)；中国科协青年人才托举工程(2019QNRC001)
作者简介：李德军(1994-)，男，硕士，助理工程师，研究方向为潜水器运动仿真
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