| 微型开架式水下机器人水动力系数测定 |
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| 引用本文： | 张燕,徐国华,徐筱龙,余琨.微型开架式水下机器人水动力系数测定[J].中国造船,2010,51(1). |
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| 作者姓名： | 张燕 徐国华 徐筱龙 余琨 |
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| 作者单位： | 华中科技大学,船舶与海洋工程学院,水下作业实验室,湖北,武汉,430074 |
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| 摘 要： | 水下机器人水动力系数的准确测定,是对机器人运动进行仿真和控制的前提。以形状复杂的开架式有缆水下机器人(ROV)作为研究对象,通过一系列水动力试验,计算出适用于开架式水下机器人模型的几个重要的实时水动力系数,为自主遥控水下机器人(ARV)的运动仿真提供了数据支撑,进而为ARV的控制奠定了基础。
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| 关 键 词： | 船舶、舰船工程 开架式有缆水下机器人 水动力系数 拖曳试验 最小二乘法 |
Measuration of the Hydrodynamic Coefficients of the Microminiature Open-shelf Underwater Vehicle |
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| ZHANG Yan,XU Guo-hua,XU Xiao-long,YU Kun.Measuration of the Hydrodynamic Coefficients of the Microminiature Open-shelf Underwater Vehicle[J].Shipbuilding of China,2010,51(1). |
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| Authors: | ZHANG Yan XU Guo-hua XU Xiao-long YU Kun |
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| Institution: | ZHANG Yan,XU Guo-hua,XU Xiao-long,YU Kun(Underwater Technology Laboratory,School Of Naval Architecture , Engineering,Huazhong University of Science , Technology,Wuhan,430074,China) |
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| Abstract: | It is the prerequisite for the simulation and controlling of underwater vehicles that the hydrodynamic coefficients are measured accurately. A series of hydrodynamic tests were carried out with a complex shape remotely operated vehicle as the test model, and the important coefficients is figured out, which could be applicable for the open-shelf underwater vehicle (ROV). What's more, these hydrodynamic coefficients could be used for the simulation of ARV (which was rebuilt by ROV), and it is the database for the controlling of ARV. |
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| Keywords: | ship engneering Remotely Operated Vehicles hydrodynamic coefficients dragging test method of least squares |
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