排序方式: 共有19条查询结果,搜索用时 15 毫秒
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针对群桥水域航路规划问题,分析了群桥水域特征,建立了简化的群桥水域航路代价模型,分别运用标准PSO算法、权重改进PSO和学习因子改进PSO算法对该问题进行求解,并对不同改进方法的收敛速度和最优适应度值进行了对比分析,得出了异步变化学习因子PSO算法在几种改进策略中表现最优的结论,并应用算例进行验证,确定了后期深入研究群桥水域航路规划问题的方法. 相似文献
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X舵欠驱动AUV结构复杂、舵片与本体之间相互作用力增多,对其进行动力学建模变得非常困难。为了克服相互作用力对建模过程的影响,引入凯恩动力学的相关知识,推导出X舵欠驱动AUV的凯恩动力学模型。以广义坐标为基础,推导出力的作用点处的广义速度、偏速度、偏角速度的计算公式,给出了计算广义主动力和广义惯性力的方法,展示了凯恩动力学的建模步骤。通过水平面和垂直面的仿真结果,验证了该建模方法的有效性。该建模方法可以避免相互作用力的计算,清晰地展示出力对动力学模型的贡献。 相似文献
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文章论述了双摄像测量的基本原理和双摄影测量算法,对测量算法进行了理论误差分析并给出了试验结果。 相似文献
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In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane's approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct. 相似文献
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论述北京城市轨道交通西郊线系统制式的选择,论证城市轻轨系统的基本运营管理模式和对车辆的基本要求,分析该系统的基本特点和主要适用范围,对城市轻轨系统的未来应用前景进行展望. 相似文献
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基于船舶操纵运动数学模型和船-船水动力干扰数学模型,提出了由于船间水动力干扰导致的船舶临界失控发生的条件,分析追越状态不同船舶横向间距、不同船舶速度以及不同水深吃水比等条件下船船干扰力和力矩与船舶横向力、船舶舵力及力矩间的关系,研究船舶临界失控区的尺度,证明船舶临界失控水动力干扰区的存在,给出了船舶临界失控水动力干扰区随船舶横向间距、船舶速度及水深吃水比的变化规律.追越船转船力矩失控区在(-0.6~-0.5)L,追越船速度提高,临界失控干扰区尺度减小;被追越船干扰力临界失控区在(-1~1)L,转船力矩失控区域在船尾方向(-0.5~0.5)L. 相似文献
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Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator 总被引:1,自引:0,他引:1
A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane's dynamic model and central pattern generator (CPG). The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot. 相似文献