Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach

被引：0
|
作者：
田宝强 [1 ,2 ]
俞建成 [1 ]
张艾群 [1 ]
机构：
[1] State Key Laboratory of Robotics (Chinese Academy of Sciences)
[2] University of Chinese Academy of Sciences
来源：
Journal of Central South University | 2015年 / 22卷 / 12期
基金：
中国国家自然科学基金;
关键词：
wave driven unmanned surface vehicle; D-H approach; Lagrangian mechanics; dynamic analysis;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.
引用
收藏
页码：4578 / 4584
页数：7
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