水下机器人动力学模型参数辨识方法综述

Parameter identification survey of dynamic model for underwater vehicles

以集中讨论水下机器人动力学建模和参数辨识方法、突出近年来取得的成就和未来的方向为主线,通过简要介绍水下机器人水动力性质与机器人几何外形之间的关系,给出基于牛顿-欧拉方程的6自由度动力学方程.经简化模型后给出需要辨识的模型参数.将参数辨识方法按经验法、试验法和计算流体动力学法进行分类,介绍各辨识方法的基本原理和目前相关研究现状,指出其优点和不足,展望水下机器人参数辨识方法的未来研究方向.

To focus on the dynamic modeling and parameter identification methods and to highlight recent achievements and future direction of underwater vehicles,through a brief introduction to the relationships between hydrodynamic properties and geometry of the vehicles,the 6-DOF（ Degree Of Freedom） dynamic equations based on Newton-Euler equations are given. Based on the simplification of the dynamic model,the vehicle parameters that need be identified are given. The parameter identification methods are classified into empirical methods,experimental methods and CFD（ Computational Fluid Dynamics） methods.The basic theories of each kind of identification methods and the corresponding current research status are introduced,their advantages and disadvantages are pointed out,and the future research direction of parameter identification methods for underwater vehicles is presented.