摘要
为了研究波浪滑翔器多体结构的动力学特性,本文利用D-H方法表示了波浪滑翔器各部分速度和位置的关系,结合波浪滑翔器结构特性推导波浪滑翔器的动力学方程。通过水池试验验证模型正确性,在Matlab-Simulink软件环境下进行运动仿真试验。试验结果表明:该建模方法可有效表示浮体与滑翔器之间较强的耦合关系,相较于传统方法提供更多参数,更好地分析得出波浪滑翔器的运动特性和其影响因素,便于后续研究。
In order to study the dynamic characteristics of multi-body structure of wave glide,based on the D-H approach,the relationship between the velocity and position of the wave glider is represented,and the dynamic equation of the wave glider is derived from the structure of the wave glider.The correctness of the model is verified by tank test results,and the motion simulation model is built in the MATLAB-Simulink software environment.The experimental results show that the modeling method can effectively represent the strong coupling relationship between the floating body and the glider,and provides more parameters than the traditional method,which is better to analyze the motion characteristics of the wave glider and its influencing factors.
作者
杨鲲
卢倪斌
隋海琛
王磊峰
李晔
YANG Kun;LU Nibin;SUI Haichen;WANG Leifeng;LI Ye(Tianjin Research Institute for Water Transport Engineering,M.O.T.,Tianjin 300456,China;Tianjin Key Laboratory of Surveying and Mapping for Water Transport Engineering,Tianjin Survey and Design Institute for Water Transport Engineering,Tianjin 300456,China;Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2020年第1期145-152,共8页
Journal of Harbin Engineering University
基金
中央级公益性科研院所基本科研业务费专项资金项目(TKS170224,TKS180406)
