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以某微小型水下机器人为对象,对其进行受力分析,并考虑海流环境的影响,以空间六自由度运动方程为基础建立其运动仿真模型。通过带附体的模型试验,得到水下机器人阻力曲线和各主要水动力系数,应用面元法预报了其控制面的水动力特性,在此基础上建立了水下机器人的运动仿真系统,对其在水平面和垂直面内的操纵性能进行了预报,仿真试验结果表明此水下机器人具有良好的操纵性能,运动仿真系统可以作为控制器设计与调试的试验平台。
A micro-underwater robot is taken as an object to analyze the force of the underwater robot and to consider the influence of the current environment. The motion simulation model of the underwater robot is established based on the six-degree-of-freedom equation of motion. The underwater robot resistance curve and the main hydrodynamic coefficients are obtained through the model test with attached body. The hydrodynamic characteristics of the control plane are predicted by using the surface element method. Based on this, the underwater robot’s motion simulation system is established. Its performance in the horizontal plane and the vertical plane is forecasted. The simulation results show that the underwater robot has good maneuverability and the motion simulation system can be used as a test platform for the design and debugging of the controller.