A Research On Modeling And Simplifying Of The Moving Submarine

The submarine voyage training simulator is a very important device as training the member of controlling a submarine.Building and solving the motion equations of the submarine are the hard core of the submarine voyage training simulator.Taken the submarine voyage training simulator as research object,the technique about building and simplifying the motion equations of the submarine is researched in the paper.The content of the research in this paper are as follows:Firstly,starting with momentum theorem and analyzing the forces,the plane and the six DOF space motion equation of submarine in the boundless deep and calm sea area are formulated by taking the Taylor's series and differential equation theories as the main math tools.Through referring the literatures,by researching the response of submarine motion under wave,flow,wave model,flow model and the maneuverability model in the near surface are presented.For the emergency situations which are very difficult to realize in practice,the model of water inflow after damaged and the model of draining by air feed are established.Whereas the six DOF space motion equation of submarine is excessively complicated,according to the experience and analyzing the hydrodynamic coefficient,the emulating simplified model for emulating and the controlling simplified model for the autopilot are formulated.The relationship between controlling the submarine and the hydrodynamic coefficient is researched,and a new measuring way of the sensitivity index of hydrodynamic coefficient is brought forward;The controlling indexes are chosen from the horizontal Z shape maneuver,vertical trapezium stern helm maneuver and turning circle maneuver,and the sensitivity index of hydrodynamic coefficient is measured,and then the six DOF space motion equation of submarine is simplified by removing those hydrodynamic coefficients with low sensitivity index.This simplifying method is offered to user by the form of friendly GUI.The application system of space motion equation of submarine which is based on VC/MATLAB hybrid programming is designed.The system can solve the equations of deep sea and near surface according to the depth of the submarine. The system can also solve the emergency model according to the command.The system send message of the submarine to the display device.Hybrid programming will bring convenience for modifying the model.