基于水下机器人的动力学分析研究

Research on Dynamic Analysis of Underwater Robot

针对水下机器人的动力学模型进行分析,通过对状态坐标系和欧拉角变换的研究,进而进行了水下机器人动力学建模的分析,其中动力学分析包括质量和惯性的描述,科氏力和向心,流体动力学阻尼,以及重力和浮力。最终通过对系统进行SIMULINK仿真,建立六自由度仿真模型,并得出仿真结果,并通过仿真结果的分析,验证了系统的可行性。

Specific to analyzes the dynamic model of the underwater robot,through the research on the state coordinates and euler angle transformation,and analyzes the dynamic modeling of underwater robot,the dynamics analysis including mass and inertia description,coriolis and centripetal,hydrodynamic damping,and gravity and buoyancy.Finally,through the SIMULINK simulation of the system,a six degree of freedom simulation model is established,and the simulation results are obtained,and the feasibility of the system is verified through the analysis of simulation results.