悬停和回旋是水下航行器重要的运动状态,保持悬停和回旋运动的稳定是水下航行器设计的关键,因而研究水下航行器的悬停和回旋运动具有重要的意义。在建立水下航行器六自由度运动方程的基础上,运用Matlab/Simulink模块对水下航行器的悬停与空间回旋状态进行了数值仿真,并对影响悬停和回旋特性的主要因素进行了分析,得到了水下航行器悬停和回旋运动的规律,所得结论可直接应用到水下航行器的操控。

Hovering and turning motions are the main motion patterns of an underwater vehicle, it is critical for the design of an underwater vehicle to keep the hovering and turning motions stable. Thus it is important to study the hovering and turning performance of an underwater vehicle. Based on the six degrees of freedom motion equations, the three-dimensional motion model of an underwater vehicle was build up, the hovering and turning patterns were numerical simulated by use of Matlab/Simulink model, and the main influence factors on the hovering and turning performance were analyzed, the hovering and turning motion regulations are attained, the conclusions can be directly used in the maneuvering of an underwater vehicle.