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.