Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach
文献类型：会议论文
| 作者 | Tian BQ(田宝强); Yu JC(俞建成)
|
| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 关键词 | Wave-driven unmanned surface vehicle D-H approach Lagrangian mechanics Dynamic analysis |
| 页码 | 1253-1258 |
| 中文摘要 | Wave-driven unmanned surface vehicle (WUSV) is a new concept marine robot drived by wave energy and solar energy, very suitable for the observing vast oceans with incomparable endurance. Firstly, the multibody system of WUSV is described based on D-H approach and the velocity and position of each moving part in WUSV are represented. Then, the driving principle is analyzed and the WUSV dynamic model in three dimension is established by Lagrangian mechanics. Finally, we perform the motion simulation of WUSV under certain sea conditions. These tasks provide the theoretical foundation for further study on the WUSV motion control and efficiency analysis. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300230 |
| 源URL | [http://ir.sia.cn/handle/173321/17500]  |
| 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. Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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