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运用 Fossen 方法将鱼雷空间运动方程进行了矢量化,得到了高度简练的基于鱼雷体坐标系和惯性坐标系下的运动方程的矢量化,并给出了矢量参数矩阵的性质。在此基础上分析了鱼雷在开环和闭环控制条件下的稳定性,说明了鱼雷运动方程矢量化的实用性。
The torpedo space motion equation is vectorized by Fossen method. The vectorization of motion equations based on the torpedo coordinate system and inertial coordinate system is obtained. The properties of vector parameter matrix are also given. Based on this, the stability of torpedo under open-loop and closed-loop control is analyzed, and the practicability of vectorization of torpedo equation of motion is illustrated.