基于Kane动力学的十字舵型欠驱动AUV建模与仿真

杨柯

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

杨柯

中国计量大学机电工程学院, 浙江杭州, 310018

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
计量
- 文章访问数: 82
- HTML全文浏览量: 16
- PDF下载量: 23
- 被引次数: 0
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

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

YANG Ke

College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China

摘要

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。
- 自主水下航行器 /
- Kane动力学 /
- 广义主动力 /
- 广义惯性力
Abstract: In order to obtain a more accurate dynamics model of autonomous undersea vehicles(AUVs), the kinematics and dynamics equations of the cross-rudder underactuated AUV were deduced by introducing the related knowledge of Kane dynamics. By taking the position, attitude, horizontal rudder angle, and vertical rudder angle of the AUV as generalized coordinates, the calculation formulas of generalized velocity, partial velocity, and partial angular velocity were deduced, and the calculation methods of generalized active force and generalized inertia force were analyzed. In addition, the modeling steps of Kane dynamics were given, and the effectiveness of the modeling method was verified by simulation experiments.
- autonomous undersea vehicle /
- Kane dynamics /
- generalized active force /
- generalized inertia force

HTML全文

图 1 惯性坐标系与载体坐标系

Figure 1. The inertia coordinate and body coordinate systems

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图 2 AUV深度随时间变化曲线

Figure 2. Curves of depth of AUV versus time

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图 3 AUV纵倾角随时间变化曲线

Figure 3. Curve of pitch angle of AUV versus time

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图 4 AUV路径跟踪结果

Figure 4. Results of AUV path tracking

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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

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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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