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| Kinematic analysis on load release of UUV with large load based on buoyancy regulation |
| Received:March 23, 2012 Revised:May 27, 2012 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx201304024 |
| KeyWord:UUV load release separation mathematical model pitch oscillation pitch adjusting |
| Author | Institution |
| 刘立栋 |
西北工业大学 航海学院,西安 |
| 张宇文 |
西北工业大学 航海学院,西安 |
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| Abstract: |
| To study load security release technology UUV with large load,it is necessary to analyze the disturbance characteristics of the load release.The separation mathematical model of load release by way of gravity is established.Under the PD depth control of the buoyancy adjusting water tanks,the movement characteristics of UUV disturbed by load release is simulated.The simulation results show that,load release can lead to the large pitch oscillation that ocean current will further increase,which is bad for the attitude stability and next load release.So a kind of pitch adjusting layout scheme is proposed,the feasibility of which is verified through simulation.The simulation results show that the scheme can restrain the pitch oscillation and improve the pitching stability. |