Research On Dynamic Characteristics Of The Underwater Vehicle Considering The Gyroscopic Effect

Gyroscopic effect caused by a rotational device will affect the dynamics characteristicsof underwater vehicle if its moment of inertia is in some extent large scale. In this paper, itresearch that how to describe the influence of gyroscopic effect caused by a rotational deviceaffect on the dynamics characteristics of underwater vehicle. It also has positive significancefor promoting the research on the dynamics characteristics and control method of underwatervehicle.For the underwater vehicle that equipped with a rotational device, this paper research onthe gyroscopic effect and the dynamics characteristics of underwater vehicle through the useof the geostatic theory and gyro-mechanics theory. Because rotational device along with theunderwater movement, it assume rotational device only receive the force by its momentumand angular momentum generated. So these forces and moments could be as underwatervehicle receives external forces and moments. The equations of motion and dynamicequations of underwater vehicle that equipped with a rotational device is built base on thegeostatic theory and gyro-mechanics theory. Base on the mathematical model of thesubmarine and combining these equations, this6degrees of freedom equations ofunderwater vehicle considering gyroscopic effect is built.In this paper, it made the6degrees of freedom equations of underwater vehicleconsidering gyroscopic effect can be simulation by simplifying the equation. It analyzes theinfluence of the quality, rotation speed, angular acceleration of the rotational device and therudder angle of the underwater vehicle on the gyroscopic effect and the dynamicscharacteristics of underwater vehicle by computer simulation. On this basis, a relevantexperimental platform is designed. This experimental platform mechanical design wascarried out and describes control methods and test methods of the experimental platform. Soit build the foundation for further demonstrate the simulation results of this paper.The results of this paper lay the foundation for further research on the control methodof how to eliminate the influence of gyroscopic effect caused by a rotational device.