【摘要】 用面元法计算了两个水下物体在相互接近过程中对水动力的影响，给出了水动力系数随物体间距离的变化曲线。该计算程序经对圆球的计算值与试验值比较得到了验证。本研究对水下双潜器的近距离协同作业和潜器在接近障碍物过程中的运动控制能够提供较好的数学模型。更多还原

【Abstract】 The influence to hydrodynamic forces acting on two underwater vehicles when they are closing to each other is calculated by surface element in this paper, and the curves of hydrodynamic force coefficients vs the distance between two underwater vehicles has been given. The program is verified by the comparishon between the results of calculation and test for spheres. The work of this paper could give a good mathematical model of the motion control for two close-in underwater vehicles in cooperative operation or for one underwater vehicle moving towards to a large obstacle.更多还原