A submarine motion model simplification method and device

Abstract

The embodiment of the invention provides a submarine motion model simplification method and device. The method comprises the steps of constructing a six-degree-of-freedom motion model of a submarine;selecting a maneuvering motion performance index corresponding to a certain operation condition, and calculating a sensitivity index of the maneuvering motion performance index to each hydrodynamic coefficient in the six-degree-of-freedom motion model of the submarine; clustering each hydrodynamic coefficient in the six-degree-of-freedom motion model of the submarine by using an unsupervised learning algorithm according to the sensitivity index to obtain a clustering result of each hydrodynamic coefficient; and carrying out hydrodynamic coefficient simplification on the six-degree-of-freedom motion model of the submarine according to the clustering result to obtain a submarine motion simplification model. According to the embodiment of the invention, the unsupervised learning algorithm isadopted to cluster each hydrodynamic coefficient in the submarine motion model, and the simplification of the submarine motion model is realized based on the clustering result, so that the operation difficulty and complexity of measurement of the hydrodynamic coefficients can be reduced, and the simplified model has higher accuracy.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of submarine motion control, and more particularly, relate to a method and device for simplifying a submarine motion model. Background technique [0002] When a submarine is navigating underwater, it is vulnerable to a short and large reverse impact force, its attitude will be greatly affected, and the stern rudder is likely to be in a state of reverse speed. In order to ensure the safety and stability of the submarine, the depth of the submarine Precise control of attitude and attitude requires motion and control modeling of the submarine. [0003] When a submarine sails underwater, it is essentially a space moving body with six degrees of freedom. According to the relevant knowledge of fluid mechanics, kinematics and dynamics, the six-degree-of-freedom motion equation of the submarine's underwater motion can be derived. The key to determining the submarine motion model is to determi...

AI Technical Summary

Problems solved by technology

[0004] However, the threshold method needs to manually screen the hydrodynamic coefficients. When the amount of data is relatively large, it will increase the difficulty of data screening, and the workload will also be greatly increased. Moreover, the selection of the threshold is unreasonable. The simplified model dynamic performance index

Images