捷联式猎雷声纳基阵动力学建模研究

运用刚体体动力学原理和船舶运动建模理论，建立了以猎雷艇为动基座的声纳基阵动力学模型。在定义了所需的坐标系基础上，给出了声纳基阵各轴框架坐标第的速度及角速度矢量表示及刚体一矩阵在坐标系平移及旋转情况下的表示；根据动量矩定理导出了声纳基阵动力学模型，并对模型特性进行了分析。仿真结果表明了模型的正确性。本文为设计高精度的控制稳定系统提供了理论基础。

A Study on Dynamic Modeling of Strap Down Minehunting Sonar Array

The dynamic models of strap-down minehunting sonar array on moving base are established using the dynamics theory of rigid body and the ship motion and modeling theory. Defining necessary coordinates, we expressed the velocity and angular velocity vector of the three shafts and the inertia matrix under the condition of parallel displacement and rotating of the coordinates. According to the momentum moment theorem the dynamic models of sonar array are carried out. At the same time, the characteristics of the models are analyzed. The simulation results indicate the correctness of the models. This gives the basis to design the stabilizing control system with high precision.