Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach
文献类型：期刊论文
| 作者 | Tian BQ(田宝强) ; Yu JC(俞建成); Zhang AQ(张艾群)
|
| 刊名 | Journal of Central South University
 |
| 出版日期 | 2015 |
| 卷号 | 22期号:12页码:4578-4584 |
| 关键词 | wave driven unmanned surface vehicle D-H approach Lagrangian mechanics dynamic analysis |
| ISSN号 | 2095-2899 |
| 产权排序 | 1 |
| 通讯作者 | 俞建成 |
| 中文摘要 | 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. |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000366635500010 |
| 源URL | [http://ir.sia.cn/handle/173321/17546]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Tian BQ,Yu JC,Zhang AQ. Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach[J]. Journal of Central South University,2015,22(12):4578-4584. |
| APA | Tian BQ,Yu JC,&Zhang AQ.(2015).Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach.Journal of Central South University,22(12),4578-4584. |
| MLA | Tian BQ,et al."Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach".Journal of Central South University 22.12(2015):4578-4584. |
入库方式： OAI收割
来源：沈阳自动化研究所
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