水下机器人艇-桨-舵动力学模型简化方法分析

Simplified Method Analysis of Underwater Vehicle Hull-Propeller-Rudder Hydrodynamic Model

为了降低水下机器人动力学模型的复杂性,提升计算效率,基于最小绝对值收敛和选择算子(LASSO)算法的特征选择方法,通过去除潜艇标准运动方程中影响较小的水动力系数实现动力学模型简化。简化后动力学模型的拟合结果与计算流体力学(CFD)仿真计算结果高度一致。结果表明,简化动力学模型可有效提升计算效率。研究成果可为水下机器人的动力学建模及模型简化提供一定参考。

In order to reduce the complexity of the dynamic model of underwater vehicles and improve computational efficiency,a feature selection method based on the least absolute shrinkage and selection operator(LASSO)is used to simplify the dynamic model by removing the hydrodynamic coefficients that have relatively small effects from the standard equation of motion of the submarine.The fitting results of the simplified dynamic model are highly consistent with the computational fluid dynamics(CFD)simulation results.The results indicate that simplifying the dynamic model can effectively improve the computational efficiency.The research results can provide some references for the dynamic modeling and model simplification of underwater vehicles.