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
相关论文
共 50 条
  • [41] Longitudinal Dynamic Modeling and Driving Cycle Tracking Control of an Electric-Driven Vehicle by Means of MATLAB/Simulink/Simscape
    Szanto A.
    Hajdu S.
    Deak K.
    Periodica Polytechnica Transportation Engineering, 2022, 50 (02): : 146 - 152
  • [42] Dynamic feedback controller based on optimized switching of multiple identification models for course control of unmanned surface vehicle
    Zhou, H. (z_huanyin3@163.com), 1600, Chinese Academy of Sciences (35):
  • [43] Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control
    Zhang, Yong
    Chen, Zengqiang
    Sun, Mingwei
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2020, 42 (12) : 2198 - 2205
  • [44] Modeling the longitudinal wave in a nanorod based on a novel theory of elastic waves with surface effects
    Jia, Ning
    AIP ADVANCES, 2024, 14 (07)
  • [45] Fixed-Time Path-Following-Based Underactuated Unmanned Surface Vehicle Dynamic Positioning Control
    Zheng, Shuai
    Su, Yumin
    Zhuang, Jiayuan
    Tang, Yueqi
    Yi, Guangjie
    JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2024, 12 (04)
  • [46] A path planning approach for unmanned surface vehicles based on dynamic and fast Q-learning
    Hao, Bing
    Du, He
    Yan, Zheping
    OCEAN ENGINEERING, 2023, 270
  • [47] Coordinated control of the heterogeneous unmanned surface vehicle swarm based on the distributed null-space-based behavioral approach
    Tan, Guoge
    Sun, Hanbing
    Du, Lei
    Zhuang, Jiayuan
    Zou, Jin
    Wan, Lei
    OCEAN ENGINEERING, 2022, 266
  • [48] Path planning of unmanned surface vehicle based on artificial potential field approach considering virtual target points
    Luan, Tiantian
    Tan, Zhenggang
    You, Bo
    Sun, Mingxiao
    Yao, Hanhong
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2024, 46 (06) : 1190 - 1202
  • [49] Trajectory-tracking control of an unmanned surface vehicle based on characteristic modelling approach: Implementation and field testing
    Meng, Yuhang
    Ye, Hui
    Yang, Xiaofei
    IET CYBER-SYSTEMS AND ROBOTICS, 2023, 5 (02)
  • [50] A constrained A* approach towards optimal path planning for an unmanned surface vehicle in a maritime environment containing dynamic obstacles and ocean currents
    Singh, Yogang
    Sharma, Sanjay
    Sutton, Robert
    Hatton, Daniel
    Khan, Asiya
    OCEAN ENGINEERING, 2018, 169 : 187 - 201
12345