| 基于凯恩动力学的AUV建模 |
| |
| 引用本文： | 孙佳杰,杨柯,葛彤.基于凯恩动力学的AUV建模[J].船舶力学,2017,21(8). |
| |
| 作者姓名： | 孙佳杰 杨柯 葛彤 |
| |
| 作者单位： | 杭州电子科技大学机械工程学院,杭州,310018;上海交通大学船舶海洋与建筑工程学院,上海,200240 |
| |
| 基金项目： | 国家自然科学基金项目，杭州电子科技大学科研启动基金项目资助 |
| |
| 摘 要： | 推导出基于凯恩动力学的AUV运动学和动力学方程。采用广义速度取代速度和角速度,给出了广义惯性力和广义主动力的计算方法。推导出作用在AUV上的水动力的计算方法,并通过仿真实验给出了水动力系数。为了验证该模型的有效性,对AUV的深度控制、前进距离控制进行了仿真。仿真结果表明,该模型是有效的。
|
| 关 键 词： | 凯恩动力学 AUV 建模 广义速度 |
Modeling of AUV based on Kane dynamics |
| |
| SUN Jia-jie,YANG Ke,GE Tong.Modeling of AUV based on Kane dynamics[J].Journal of Ship Mechanics,2017,21(8). |
| |
| Authors: | SUN Jia-jie YANG Ke GE Tong |
| |
| Abstract: | Kinematics and dynamics for AUV are developed. The generalized active force and the general-ized inertia force are deduced by means of replacing velocity and angular velocity by generalized velocity. The equations of hydrodynamic forces of AUV are deduced. Hydrodynamic coefficients are determined through simulation. The simulations of depth control and forward distance control are implemented to verify the dynamic model of AUV. Simulation results show that the dynamic model is effective. |
| |
| Keywords: | Kane dynamics AUV model generalized velocity |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
