| 带吊舱水下机器人运动建模与仿真(英文) |
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| 引用本文： | 苏玉民,赵金鑫,曹建,张国成.带吊舱水下机器人运动建模与仿真(英文)[J].船舶与海洋工程学报,2013,12(1):45-51. |
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| 作者姓名： | 苏玉民 赵金鑫 曹建 张国成 |
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| 作者单位： | State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University |
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| 基金项目： | Supported by the National Natural Science Foundation of China under Grant No.50909025 |
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| 摘 要： | To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
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| 关 键 词： | autonomous underwater vehicle (AUV) motion performance dynamics modeling appendages simulation system |
Dynamics modeling and simulation of autonomous underwater vehicles with appendages |
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| Yumin Su,Jinxin Zhao,Jian Cao,Guocheng Zhang.Dynamics modeling and simulation of autonomous underwater vehicles with appendages[J].Journal of Marine Science and Application,2013,12(1):45-51. |
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| Authors: | Yumin Su Jinxin Zhao Jian Cao Guocheng Zhang |
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| Institution: | 11169. State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin, 150001, China
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| Abstract: | To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages. |
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