摘要
为了获得更加精确的自主水下航行器(AUV)动力学模型,引入Kane动力学的相关知识,推导出十字舵型欠驱动AUV的运动学和动力学方程。以AUV的位置、姿态、水平舵角和垂直舵角为广义坐标,推导出广义速度、偏速度和偏角速度的计算公式,分析了广义主动力和广义惯性力的计算方法,给出了Kane动力学的建模步骤。通过仿真验证了该建模方法的有效性。
In order to obtain a more accurate dynamics model of autonomous undersea vehicles(AUVs),the kinematics and dynamics equations of the cross-rudder underactuated AUV were deduced by introducing the related knowledge of Kane dynamics.By taking the position,attitude,horizontal rudder angle,and vertical rudder angle of the AUV as generalized coordinates,the calculation formulas of generalized velocity,partial velocity,and partial angular velocity were deduced,and the calculation methods of generalized active force and generalized inertia force were analyzed.In addition,the modeling steps of Kane dynamics were given,and the effectiveness of the modeling method was verified by simulation experiments.
作者
杨柯
YANG Ke(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China)
出处
《水下无人系统学报》
2023年第6期885-890,共6页
Journal of Unmanned Undersea Systems
基金
中国计量大学科研启动基金项目资助(01101/200853).
关键词
自主水下航行器
Kane动力学
广义主动力
广义惯性力
autonomous undersea vehicle
Kane dynamics
generalized active force
generalized inertia force
