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基于Kane动力学的十字舵型欠驱动AUV建模与仿真

杨柯

杨柯. 基于Kane动力学的十字舵型欠驱动AUV建模与仿真[J]. 水下无人系统学报, 2023, 31(6): 885-890 doi: 10.11993/j.issn.2096-3920.2022-0085
引用本文: 杨柯. 基于Kane动力学的十字舵型欠驱动AUV建模与仿真[J]. 水下无人系统学报, 2023, 31(6): 885-890 doi: 10.11993/j.issn.2096-3920.2022-0085
YANG Ke. Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085
Citation: YANG Ke. Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics[J]. Journal of Unmanned Undersea Systems, 2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085

基于Kane动力学的十字舵型欠驱动AUV建模与仿真

doi: 10.11993/j.issn.2096-3920.2022-0085
基金项目: 中国计量大学科研启动基金项目资助(01101/200853).
详细信息
    作者简介:

    杨柯:杨 柯(1983-), 男, 博士, 讲师, 主要研究方向为水下机器人自主运动

  • 中图分类号: TJ630; U674

Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics

  • 摘要: 为了获得更加精确的自主水下航行器(AUV)动力学模型, 引入Kane动力学的相关知识, 推导出十字舵型欠驱动AUV的运动学和动力学方程。以AUV的位置、姿态、水平舵角和垂直舵角为广义坐标, 推导出广义速度、偏速度和偏角速度的计算公式, 分析了广义主动力和广义惯性力的计算方法, 给出了Kane动力学的建模步骤。通过仿真验证了该建模方法的有效性。

     

  • 图  1  惯性坐标系与载体坐标系

    Figure  1.  The inertia coordinate and body coordinate systems

    图  2  AUV深度随时间变化曲线

    Figure  2.  Curves of depth of AUV versus time

    图  3  AUV纵倾角随时间变化曲线

    Figure  3.  Curve of pitch angle of AUV versus time

    图  4  AUV路径跟踪结果

    Figure  4.  Results of AUV path tracking

    图  5  路径跟踪速度随时间变化曲线

    Figure  5.  Curves of the speed of path tracking versus time

    图  6  推力和扭矩随时间变化曲线

    Figure  6.  Curves of thrust and torque versus time

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出版历程
  • 收稿日期:  2022-11-28
  • 修回日期:  2023-02-17
  • 录用日期:  2023-03-14
  • 网络出版日期:  2023-12-11

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