研究海流下的载人潜水器机动Z形操纵性能，为海流环境下的安全航行进行评估。本文以某小型载人潜水器研究对象，首先建立其完整的六自由度运动方程，采用CFD计算得到的水动力参数。然后对其水平面Z形操纵运动进行仿真，在此基础上，考虑小型载人潜水器复杂环境下易受干扰，对不同海流方向（横向、迎向和45°）下的Z形操纵运动、不同海流大小下的Z形操纵运动、迎流下的时变海流下的Z形操纵运动开展仿真研究。研究结果表明，载人潜水器运动具有强耦合、非线性特点，在无海流下的情况下，载人潜水器具备灵活机动性，航行稳定；在有海流干扰下，航行轨迹出现偏移，但整体航行稳定，表明该载人潜水器操纵性能良好；通过3种海流干扰下的运动仿真对比发现，迎向海流对Z形操纵运动影响最小；在遭遇影响大小周期性变时变海流时，潜水器Z形运动稳定，但航向角的峰值不断变化，该影响会造成潜水器航行的不对称性，引起航迹的周期性横移。该研究可为载人潜水器操纵控制提供参考。
To study the Z-shaped maneuvering performance of manned submersibles under ocean currents and evaluate safe navigation in ocean current environments. This article focuses on the research object of a small manned submersible. Firstly, a complete six degree of freedom motion equation is established, and the hydrodynamic parameters are calculated using CFD. Then, the Z-shaped manipulation motion on its horizontal plane was simulated. Based on this, considering the susceptibility of small manned submersibles to interference in complex environments, simulation studies were conducted on the Z-shaped manipulation motion in different ocean current directions (lateral, forward, and 45°), different ocean current sizes, and time-varying ocean currents under forward currents. The research results indicate that the motion of manned submersibles has strong coupling and nonlinear characteristics. In the absence of ocean currents, manned submersibles have flexible maneuverability and stable navigation; Under the interference of ocean currents, the navigation trajectory deviates, but the overall navigation is stable, indicating good maneuverability of the manned submersible; Through the comparison of motion simulations under three types of ocean current interference, it was found that the effect of facing ocean current on Z-shaped maneuvering motion is the smallest; When encountering periodic and time-varying ocean currents, the Z-shaped motion of the submersible is stable, but the peak heading angle is constantly changing, which can cause asymmetry in the submersible's navigation and lead to periodic lateral displacement of the trajectory. This study can provide reference for the manipulation and control of manned submersibles.
2025,47(2): 12-16 收稿日期：2024-2-28
DOI：10.3404/j.issn.1672-7649.2025.02.003
分类号：U674.941
基金项目：国家重点研发计划资助项目（2022YFC2805501）；深潜救生艇训练模拟系统项目（2021-HCX-MN-020006）
作者简介：钟后阳（1988 – ），男，硕士，副教授，研究方向为深潜救生艇技术与运用
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