中文摘要：

为预报水下航行器样机操纵性和运动控制性能,采用格特勒标准六自由度运动方程,通过水池拖曳试验获取水动力系数,建立水下航行器运动模型,完成水平面回转操纵、Z型操纵、回舵操纵、垂直面梯形操纵和空间螺旋操纵等仿真.仿真结果表明:该水下航行器具有良好的应舵性能和回转性能,同时具有良好的机动性和稳定性;并将全模型仿真与经典的野本简化模型仿真结果进行比较,说明了本方法的精确性.对操纵性能的评估结果表明所设计的水下航行器满足水下智能控制试验平台的要求.

英文摘要：

To forecast the maneuverability and motion control performance of the underwater vehicle, a motion model with six degrees of freedom was built based on the standard Gertler motion equations where the hydrodynamic coefficients were obtained from towing tank tests.A motion simulation sys-tem was constructed and five typical maneuvering patterns in horizontal and vertical planes were simu-lated,such that the maneuverability of the underwater vehicle prototype was forecasted.The simula-tion results show that the underwater vehicle has good steering and rotation performance,together with good maneuverability and stability.By compared with the simulation results based on the classi-cal Nomoto model,it verifies the accuracy of the proposed method.The good maneuverability of the designed prototype indicates that it can be used as a motion testing platform for the intelligent control system of the underwater vehicle.