带吊舱水下机器人运动建模与仿真(英文)

• 作 者: 苏玉民 赵金鑫 曹建 张国成
• 机 构: State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,
• 出 处: Journal of Marine Science and Application
• 发表日期: 2013年01期
• 关键词: 水下机器人 运动建模 freedom underwater 吊舱 autonomous torque utilized frames trajectory

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.

To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle’s (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV’s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrates the AUV has good maneuverability with and without appendages.