本文選題：凱恩動(dòng)力學(xué) + AUV　； 參考：《船舶力學(xué)》2017年08期

【摘要】：推導(dǎo)出基于凱恩動(dòng)力學(xué)的AUV運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)方程。采用廣義速度取代速度和角速度,給出了廣義慣性力和廣義主動(dòng)力的計(jì)算方法。推導(dǎo)出作用在AUV上的水動(dòng)力的計(jì)算方法,并通過(guò)仿真實(shí)驗(yàn)給出了水動(dòng)力系數(shù)。為了驗(yàn)證該模型的有效性,對(duì)AUV的深度控制、前進(jìn)距離控制進(jìn)行了仿真。仿真結(jié)果表明,該模型是有效的。
[Abstract]:The kinematics and dynamics equations of AUV based on Kane dynamics are derived. The calculation method of generalized inertial force and generalized principal force is given by replacing velocity and angular velocity with generalized velocity. The calculation method of hydrodynamic force acting on AUV is deduced, and the hydrodynamic coefficient is given by simulation experiment. In order to verify the effectiveness of the model, the depth control and forward distance control of AUV are simulated. The simulation results show that the model is effective.
【作者單位】： 杭州電子科技大學(xué)機(jī)械工程學(xué)院;上海交通大學(xué)船舶海洋與建筑工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51309133) 杭州電子科技大學(xué)科研啟動(dòng)基金項(xiàng)目資助(ZX150204301002/006)
【分類(lèi)號(hào)】：TP242
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本文編號(hào)：2007153