二自由度波能转换装置动力学建模  

Dynamic Modeling of a 2-dofs Wave-power Translating Device

作　　者：王晓明[1] 尚建忠[1] 罗自荣[1] 丛楠[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《机械设计与研究》2010年第5期50-53,共4页Machine Design And Research

摘　　要：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 2-dofs inertia pendulum,a wave-power translating （WPT） device to realize the self-supply energy for marine vehicles was proposed in the paper,which can absorb movements or forces from two directions perpendicularly. The key part is the bidirection-to-unidirection device （UTBD） which was the modification of the one-way clutches,and it can translate the pendulum motion into one-way rotation in 2-dofs.Therefore,the energy is stored in spring winder,growing as the angle increases. The dynamic equation of the simplified model was presented on the basis of Lagrange equation,the variations of angles in 2-dofs were obtained through an example by Runge-Kutta （RK）,and the parameters and qualifications for the device optimization were also analyzed by comparison. The analysis provides necessary information for dynamic performance analysis,optimal design,efficiency analysis and control of the WPT device.

关 键 词：二自由度惯性摆 波能转换装置 单向转换装置海洋机器人 LAGRANGE方程 

分 类 号：TK01[动力工程及工程热物理]