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基于二自由度惯性摆工作原理,提出了一种可实现海洋机器人能量自给的波能转换装置。该机械装置可将波浪运动分解,经过一种改进的单向离合器,可将两个自由度上的往复摆动分别转化为正反向转动,扭转卷簧蓄能。对该机械装置进行简化,应用Lagrange方程建立动力学模型。利用四阶龙格-库塔算法进行算例分析,得到两个自由度上摆角的变化规律,并且通过比较获得了可以对装置优化的参数和条件,对进一步研究该波能转换装置的动态特性、机构优化设计、效率分析和系统控制具有非常重要的意义。
Based on the principle of two degrees of freedom inertial pendulum, a wave energy conversion device that can realize the energy self-sufficiency of the marine robot is proposed. The mechanical device can decompose the wave motion. After an improved one-way clutch, reciprocating swinging in two degrees of freedom can be respectively converted into positive and negative rotation, and torsional coil spring can be stored. The mechanical device is simplified, and the Lagrangian equation is used to establish the dynamic model. The fourth-order Runge-Kutta algorithm is used to analyze the examples. The variation law of the two degrees of freedom upper swing angle is obtained. By comparison, the parameters and conditions that can optimize the device are obtained, and the dynamics of the wave energy conversion device Features, institutional optimization design, efficiency analysis and system control are of great importance.