X舵欠驱动AUV凯恩动力学建模

Kane dynamics modeling of X-rudder underactuated AUV

X舵欠驱动AUV结构复杂、舵片与本体之间相互作用力增多,对其进行动力学建模变得非常困难。为了克服相互作用力对建模过程的影响,引入凯恩动力学的相关知识,推导出X舵欠驱动AUV的凯恩动力学模型。以广义坐标为基础,推导出力的作用点处的广义速度、偏速度、偏角速度的计算公式,给出了计算广义主动力和广义惯性力的方法,展示了凯恩动力学的建模步骤。通过水平面和垂直面的仿真结果,验证了该建模方法的有效性。该建模方法可以避免相互作用力的计算,清晰地展示出力对动力学模型的贡献。

X-rudder underactuated AUV has complex structure and more interaction force between rudder and body,so it is very difficult to model its dynamics.In order to overcome the influence of the interaction force on the modeling process,the Kane dynamics modelling of the X-rudder underactuated AUV are deduced by introducing the related knowledge of Kane dynamics.Based on the generalized coordinates,the calculation formulas of the generalized velocity,partial velocity and partial angular velocity at the point of action of the force are deduced,the methods for calculating the generalized active force and the generalized inertial force are given,and the modeling steps of Kane dynamics are shown.The effectiveness of the modeling method is verified by the motion simulation of horizontal and vertical planes.The modeling method can avoid the calculation of the interaction force and clearly show the contribution of the force to the dynamic model.