测量型深水AUV垂直面运动稳定性设计
Design of Dynamic Stability in Vertical Plane of Autonomous Underwater Vehicle with Measurement Missions

测量型自主水下航行器（AUV）垂直面运动稳定性对于其顺利完成长时间深海作业、保证航行效率和安全性至关重要。以天津大学研制的用于海底地形地貌测量的深水AUV为应用对象，根据古尔维茨判别法推导了其垂直面运动稳定性衡准表达式，通过数值模拟水池试验获得了稳定性衡准判别式所需的水动力导数，分析了不同水动力外形因素（主体外形和尾翼布局形式）对其运动稳定性的影响。结果表明，具有较大纵中剖面投影面积的水动力外形的AUV，以及拥有X尾翼布局的AUV具有更好的垂直面运动稳定性。
Dynamic stability in vertical plane is critical for navigation safety and efficiency of the autonomous underwater vehicle (AUV) with measurement missions. In this paper, focused on the deep-sea AUV with the mission of measuring submarine topography developed by Tianjing University, the expression of the dynamic stability criterion in vertical plane was deduced by using Hurwitz discriminance. The hydrodynamic derivatives in the dynamic stability criterion were obtained by numerical simulation of tank tests. The influences of hydrodynamic shapes, such as main body shape, layout mode of the fixed rudder, on the dynamic stability of the AUV were discussed. Results showed that AUV with X rudder and with a larger horizontal projection area had a better dynamic stability in vertical plane