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潜艇水下运动是多姿态的三维空间运动。仿真器要对其进行比较准确地描述和对其运动状态进行动态仿真，其实现技术上的关键是：建立潜艇空间运动微分方程组和六自由度转动平台。本文概述了我们最新研制成功的“潜艇六自由度运动仿真器”的结构概况、动力学模型及实艇修正、转台系统及其数控模型。经试验证明：该仿真器确能逼真地反映潜艇水下运动规律和操纵特点。
Submarine underwater sports are multi-dimensional three-dimensional space movement. The simulator needs to describe and simulate its dynamic state dynamically. The key point in the realization of the simulator is to establish submarine space motion differential equations and six degrees of freedom rotation platform. This article provides an overview of the structural, dynamic and real-ship correction, turntable system and its numerical control model of our recently developed Submarine Six-Freedom Motion Simulator. The test proved that the simulator can truly reflect the submarine underwater movement and manipulation characteristics.