混合推进水下机器人液压系统设计与仿真分析  

Hydraulic System Design and Simulation Analysis for Omnibus Propulsion Underwater Robot

作　　者：刘海波[1] 杨军宏[1] 尚建忠[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《机床与液压》2012年第17期69-72,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(50875254);中国博士后科学基金项目(20080441282)

摘　　要：利用Pro/E和ADAMS建立了喷水和滑翔混合推进水下机器人多体动力学仿真模型。设计了实现姿态调整和喷口转向功能的液压驱动系统。建立了基于ADAMS和MATLAB/SimHydraulics的机械与液压联合仿真模型,在此基础上对喷口转向控制进行了联合仿真分析,分析结果为喷口转向机构的设计和实际转向控制调节提供了依据和参考。Using Pro/E and ADAMS, a multi-rigid-body dynamics simulation model of underwater robot was established which used the omnibus propulsion consisted of water-jet and gliding hydraulic drive system. The hydraulic driving system to perform adjusting pose and steering control of the nozzle was designed. Based on the ADAMS and MATLAB/SimHydraulics, the integrated co-simulation model consists of mechanical and hydraulic system was established. Then the co-simulation analysis was used in the steering control of the nozzle. This analysis results will provide basis for the design of the steering mechanism for the nozzle, and will provide some references to carry out the following steering control of the nozzle practically.

关 键 词：液压系统设计 SimHydraulics ADAMS 联合仿真 转向控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]