Six Degrees Of Freedom Motion Of The Underwater Platform Modeling And Simulation

In order to adapt to military and economic modernization especially in warring in ocean and making use of the resource of ocean, underwater platform must be developed to be more maneuverable and obscure.The thesis is to build the six unrestricted movement equation of the underwater platform and realize the ballistic simulation. The main contribution of this dissertation is summarized as following:1 The basic equation of six-degree of freedom movement in the underwater platform is accomplished on the ground of studying the torpedo's cruise movement. On the base of the basic equation and using the law of Newton to analyze the horizontal and vertical movement of the underwater platform I establish the uniform dynamics equation. The movement parameters are resolved by the uniform dynamics equation, and the parameters are applied to simulate the underwater platform trajectory.2 The movement state of the underwater platform is analyzed on the ground of the equation of six-degree of freedom. Then the simulative model of six-degree of freedom in ocean current is established. 3 The ultimate angle in the simulation can be resolved when the law ofQuaternion is applied.4 The control rule is putted forward in the ballistic simulation. 5 On the base of the simulative model the movement equation of six-degree of freedom is resolved by use of MatLab and the ballistic simulation is accomplished in the correspondingly ballistic control rule. The eyeable ballistic simulation is completed after reading the ballistic data. The landform in the eyeable scene is formable by use of algorithms for generating fractal terrain.