仿生水下机器人运动仿真技术研究

Research of Bionic Underwater Vehicle's Motion Simulation

以哈尔滨工程大学仿生水下机器人"仿生-Ⅰ"为研究对象,建立了其运动仿真模型。采用水下机器人六自由度空间运动模型,对仿生水下机器人与传统水下机器人区别较大的推进系统、操纵系统以及附加质量的变化等进行了阐述。利用该模型进行的运动仿真结果和"仿生-Ⅰ"水池试验吻合的较好,表明该仿真模型是符合实际的。本研究也为仿生水下机器人运动控制研究提供了平台,对今后的工作有较大的现实意义。

We introduce the motion simulation model of a bionics inspired Underwater Vehicle (UV) named 'FangSheng-I' developed by Harbin Engineering University. The six degrees of freedom motion equations of UV are used, and emphases are laid on the differences between the bionic UV and traditional UV, such as the propulsion system, the control system and the variation of the added-mass. The simulation results show relative good comparability between the model and the real bionic UV. As a platform of the motion control, the model is meaningful for the future research on the bionic UV.