摘要
Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.
Wave driven unmanned surface vehicle（WUSV） is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.
基金
Project(2012-Z05)supported by the State Key Laboratory of Robotics,China
Projects(61233013,51179183)supported by the National Natural Science Foundation of China
