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鱼雷依靠惯性以一定姿态跃出水面并再次落入水中的过程称之为鱼雷的豚跳运动. 针对鱼雷的豚跳运动需要以零攻角入水, 而鱼雷在空中运动过程中无法控制的问题, 提出了通过构建鱼雷豚跳运动模型并以此为基础控制初始出水转动角速度的解决方法. 附加质量、浮力、浮心、浸湿面积、浸水体积等变量随鱼雷出水姿态、出水过程不同而不同. 在构建鱼雷豚跳运动模型过程中, 充分考虑了各个变化物理量的导数项, 分析了鱼雷水动阻力系数与攻角的关系, 构建了运动模型, 得出鱼雷豚跳运动的规律. 利用优化搜索算法计算出使鱼雷豚跳以零攻角条件入水的初始转动角速度. 仿真结果表明了所建模型及控制初始转动角速度方法的有效性.The process which the torpedo, with relying on its inertia, jumps out of water in a certain gesture and falls into water, is called dolphin-leap. According to the dolphin-leap, the torpedo is required to get into the water at its zero angle of attack, but this gesture cannot be controlled during the torpedo moving in air. In order to solve the problem, a solution to control the initial water-exit rotational angular velocity is developed according to the proposed dolphin-leap model. The variables like added mass, buoyancy, buoyant center, wetted area, wetted volume, etc. are dependent on water-exit gesture and process. The derivative term of each physical quantity is fully considered in the dolphin-leap model, and the relationship between torpedo's hydrodynamic drag coefficient and attack angle is analyzed, then the motion model is built and the torpedo's dolphin-leap law is obtained. The optimal search algorithm is used to obtain the initial rotational angular velocity which makes the torpedo dolphin-leap fall into the water at its zero angle of attack. Simulation results show the validity of the proposed model and the solution for controlling the initial rotational angular velocity.
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Keywords:
- dolphin-leap /
- dynamic model /
- fall into the water with zero angle of attack /
- optimizing search
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[2] Yu J Z, Hu Y H, Fan R R, Wang L, Huo J Y 2006 Proceedings of the 2006 IEEE International Conference on Robotics and Automation Orlando, Florida, May 15-19, 2006 p2311
[3] Hu Y H, Wang L, Yu J Z, Huo J Y, Jia Y M 2008 American Control Conference Westin Seattle Hotel Seattle, Washington, USA, June 11-13, 2008 p2858
[4] Yu J Z, Li Y F, Wang M, Tan M 2008 Proceedings of the IEEE International Conference on Automation and Logistics Qingdao, China, September 1-3, 2008 p1172
[5] Yu J Z, Li Y F, Hu Y H, Wang L Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok Thailand, February 21-26, 2009 p240
[6] Yang J M, Stern F 18th AIAA Computational Fluid Dynamics Conference Miami, USA, June 25-28, 2007 p4578
[7] Han R, Zhang A M, Li S 2014 Chin. Phys. B 23 034703
[8] Wang H, Zhang Z Y, Yang Y M, Zhang H S 2010 Chin. Phys. B 19 026801
[9] Zhang A M, Wang C, Wang S P, Cheng X D 2012 Acta Phys. Sin. 61 084701 (in Chinese) [张阿漫, 王超, 王诗平, 程晓达 2012 61 084701]
[10] He H L, Liu Y J, Mo J, Song J B 2009 Acta Phys. Sin. 58 6743 (in Chinese) [何海伦, 刘永军, 莫军, 宋金宝 2009 58 6743]
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[18] Yang S X, Li N J, Xu X Z 2001 Airdrop Torpedo Technology (Kunming: Yunnan Science and Technology Publishing Press) p149 (in Chinese) [杨世兴, 李乃晋, 徐宣志 2001 空投鱼雷技术 (昆明:云南科技出版社) 第149页]
[19] Yan W S 2005 Torpedo Mechanics (Xi'an: Northwestern Polytechnical University Press) p26 (in Chinese) [严卫生 2005 鱼雷航行力学 (西安: 西北工业大学出版社) 第26页]
[20] Liao J H, You X C, L H B, Zhuang Z 2012 Eng. Mech. 4 202 (in Chinese) [廖剑晖, 由小川, 吕海波, 庄茁 2012 工程力学 4 202]
[21] Wilson M B, Kelley J R 1976 Low Froude Number Hydrodynamic Performance of a Flat Plate Hydrofoil (Bethesda: David W. Taylor Naval Ship Research and Development Center) p23
[22] Логвиновч Г В(translated by Shi H H) 2012 Гидродина Течениæco Свободными Гранидами(Hydrodynamics of Free-Boundary Flows) (Shanghai: Shanghai Jiao Tong University Press) pp129-131 (in Chinese) [罗格维诺维奇 Γ B著 (施红辉 译) 2012 自由边界流动的水动力学 (上海: 上海交通大学出版社) 第129-131页]
[23] Zhang J Q 2012 Ph. D. Dissertation (Xi'an: Air Force Engineering University) (in Chinese) [张佳强 2012 博士学位论文 (西安: 空军工程大学)]
[24] Chen B L 2005 Theory and Algorithms of Optimization (Beijing: Tsinghua University Press) p256 (in Chinese) [陈宝林 2005 最优化理论与算法 (北京: 清华大学出版社) 第256页]
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[1] Gorkem D, Emre O, Ahmet K 2005 Proceedings of the IEEE International Conference on Mechatronics and Automation Niagara Falls, Canada, July 29, 2005 p952
[2] Yu J Z, Hu Y H, Fan R R, Wang L, Huo J Y 2006 Proceedings of the 2006 IEEE International Conference on Robotics and Automation Orlando, Florida, May 15-19, 2006 p2311
[3] Hu Y H, Wang L, Yu J Z, Huo J Y, Jia Y M 2008 American Control Conference Westin Seattle Hotel Seattle, Washington, USA, June 11-13, 2008 p2858
[4] Yu J Z, Li Y F, Wang M, Tan M 2008 Proceedings of the IEEE International Conference on Automation and Logistics Qingdao, China, September 1-3, 2008 p1172
[5] Yu J Z, Li Y F, Hu Y H, Wang L Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok Thailand, February 21-26, 2009 p240
[6] Yang J M, Stern F 18th AIAA Computational Fluid Dynamics Conference Miami, USA, June 25-28, 2007 p4578
[7] Han R, Zhang A M, Li S 2014 Chin. Phys. B 23 034703
[8] Wang H, Zhang Z Y, Yang Y M, Zhang H S 2010 Chin. Phys. B 19 026801
[9] Zhang A M, Wang C, Wang S P, Cheng X D 2012 Acta Phys. Sin. 61 084701 (in Chinese) [张阿漫, 王超, 王诗平, 程晓达 2012 61 084701]
[10] He H L, Liu Y J, Mo J, Song J B 2009 Acta Phys. Sin. 58 6743 (in Chinese) [何海伦, 刘永军, 莫军, 宋金宝 2009 58 6743]
[11] He C T, Wang C, He Q K, Qiu Y 2012 Acta Phys. Sin. 61 134701 (in Chinese) [何春涛, 王聪, 何乾坤, 仇洋 2012 61 134701]
[12] Chu X S, Yan K, Wang Z, Zhang K, Feng G, Chen W Q 2010 J. Hydrodyn. 22 877
[13] Cao W, You T Q, Wei X Q, Wang C, Zhao X Q 2012 International Conference on Structural Computation and Geotechnical Mechanics Kunming, China, March 24-25, 2012 p203
[14] Huang J S, Zeng G W 2000 Eng. Struct. 22 1189
[15] Li J, Lu C J, Huang X 2010 J. Hydrodyn. 22 312
[16] Xiao M, Shi Z K 2010 Acta Armamentarii 9 1151 (in Chinese) [肖敏, 史忠科 2010 兵工学报 9 1151]
[17] Yuan X L, Zhang Y W, Yin Z Y, Liu L H 2003 J. Projectiles, Rockets, Missiles Guid. 4 187 (in Chinese) [袁绪龙, 张宇文, 殷崇一, 刘乐华 2003 弹箭与制导学报 4 187]
[18] Yang S X, Li N J, Xu X Z 2001 Airdrop Torpedo Technology (Kunming: Yunnan Science and Technology Publishing Press) p149 (in Chinese) [杨世兴, 李乃晋, 徐宣志 2001 空投鱼雷技术 (昆明:云南科技出版社) 第149页]
[19] Yan W S 2005 Torpedo Mechanics (Xi'an: Northwestern Polytechnical University Press) p26 (in Chinese) [严卫生 2005 鱼雷航行力学 (西安: 西北工业大学出版社) 第26页]
[20] Liao J H, You X C, L H B, Zhuang Z 2012 Eng. Mech. 4 202 (in Chinese) [廖剑晖, 由小川, 吕海波, 庄茁 2012 工程力学 4 202]
[21] Wilson M B, Kelley J R 1976 Low Froude Number Hydrodynamic Performance of a Flat Plate Hydrofoil (Bethesda: David W. Taylor Naval Ship Research and Development Center) p23
[22] Логвиновч Г В(translated by Shi H H) 2012 Гидродина Течениæco Свободными Гранидами(Hydrodynamics of Free-Boundary Flows) (Shanghai: Shanghai Jiao Tong University Press) pp129-131 (in Chinese) [罗格维诺维奇 Γ B著 (施红辉 译) 2012 自由边界流动的水动力学 (上海: 上海交通大学出版社) 第129-131页]
[23] Zhang J Q 2012 Ph. D. Dissertation (Xi'an: Air Force Engineering University) (in Chinese) [张佳强 2012 博士学位论文 (西安: 空军工程大学)]
[24] Chen B L 2005 Theory and Algorithms of Optimization (Beijing: Tsinghua University Press) p256 (in Chinese) [陈宝林 2005 最优化理论与算法 (北京: 清华大学出版社) 第256页]
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