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基于水动力试验的深海开架式潜水器三维轨迹跟踪控制平台设计(英文) 被引量:2
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作者 范士波 连琏 任平 《船舶力学》 EI 北大核心 2012年第12期1408-1416,共9页
由于深海潜水器的高研发成本和海洋环境的复杂性,文章设计并开发了一个深海潜水器近海底三维轨迹跟踪控制仿真平台,仿真平台主要包括海图数据处理、海底环境生成、水下机器人建模、轨迹跟踪仿真四个主要模块。建造了1:1.6的ROV缩尺比模... 由于深海潜水器的高研发成本和海洋环境的复杂性,文章设计并开发了一个深海潜水器近海底三维轨迹跟踪控制仿真平台,仿真平台主要包括海图数据处理、海底环境生成、水下机器人建模、轨迹跟踪仿真四个主要模块。建造了1:1.6的ROV缩尺比模型,通过VPMM和LAHPMM进行了模型水动力试验,获得了相关的水动力系数,并根据潜水器的结构布置特征,建立了5自由度的潜水器运动数学模型。在Windows操作系统VC++6.0集成环境下,通过OpenGL图形开发库,搭建了该仿真平台,并进行了初步调试,获得了比较理想的模拟效果。 展开更多
关键词 有缆式潜水器 水动力试验 VPMM lahpmm 轨迹跟踪
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OBLIQUE TOWING TEST AND MANEUVER SIMULATION AT LOW SPEED AND LARGE DRIFT ANGLE FOR DEEP SEA OPEN-FRAMED REMOTELY OPERATED VEHICLE 被引量:5
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作者 FAN Shi-bo LIAN Lian +1 位作者 REN Ping HUANG Guo-liang 《Journal of Hydrodynamics》 SCIE EI CSCD 2012年第2期280-286,共7页
This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle (ROV),which is being researched and developed by Sh... This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle (ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement is significant for the maneuverability and control system design.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics tests of large drift angle were conducted through Large Amplitude Horizontal Planar Motion Mechanism (LAHPMM) under low speed.Multiple regression method is adopted to process the test data and obtain the related hydrodynamic coefficients.Simulations were designed for the horizontal plane motion of large drift angle to verify the coefficients calculated.And the results show that the data can satisfy with the design requirements of the ROV developed. 展开更多
关键词 Remotely Operated Vehicle (ROV) scaled model large drift angle multiple regression Large Amplitude Horizontal Planar Motion Mechanism lahpmm
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