Research on Simplifying the Motion Equations and Coefficients Identification for Submarine Training Simulator Based on Sensitivity Index

Abstract

Submarine training simulator utilize the high technology devices to train the sailor in the safe, high-efficiency and realistic environment while reducing the dangerous quality and fund in actual training. Solving the six dimension motion equations of submarine plays a significant role in the training simulator. As the 108 hydrodynamic coefficients are hard to acquire completely, and the low solving speed because of the complex equations, it is necessary to simplify the equations in the range of accepted deviation. In this paper, the submarine motion model is analyzed, the motion equation is simplified, a sensitivity index is introduced, and three typical maneuver simulation tests are chosen as the research subjects. Furthermore, simplifying and identifying the model using the particle swarm optimization based on sensitivity index of the coefficients. We define the manipulate evaluation, determine the mathematical expression of the identification, restrict the type, range, field of definitions and evaluation function of the manipulate experiment. Improve the particle swarm optimization algorithm based on the sensitivity index. Through a mount of simulation calculation, this paper modifies the hydrodynamic coefficients of equations of submarine training simulator, and the influence of hydrodynamic coefficients for the maneuverability is evaluated. The simulation results prove the feasibility of the simplified and coefficients identification method.