波浪驱动无人水面机器人运动效率分析  

Analysis on Movement Efficiency for Wave Driven Unmanned Surface Vehicle

作　　者：田宝强[1,2] 俞建成[1] 张艾群[1] 金文明[1,2] 赵文涛[1,2] 陈质二 

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院大学,北京100049

出　　处：《机器人》2014年第1期43-48,68,共7页Robot

基　　金：机器人学国家重点实验室课题资助项目(2012-Z05);国家自然科学基金资助项目(61233013;51179183)

摘　　要：以波浪驱动无人水面机器人(WUSV)的运动效率为研究对象,首先分析了该机器人的驱动原理,并推导了驱动力的计算公式.然后,结合波浪理论从能量转化角度建立了运动效率分析模型.最后通过波浪驱动无人水面机器人实验平台,分析和计算了波高、波浪周期和翼板旋角对运动效率的影响,这为WUSV的动力学建模和效率优化分析提供理论基础和设计依据.This paper focuses on the movement efficiency of wave-driven unmanned surface vehicle （WUSV）. Firstly, the driving principle of WUSV is analyzed and the formula for calculating the driving force is derived. Then, combined with the wave theory, the model of movement efficiency is established from the perspective of energy conversion. Finally, the effects of wave height, wave period and wing rotation angle on the movement efficiency are analyzed and calculated through the experimental platform of WUSV, which provides the foundation and basis for further study in the dynamics model and efficiency ootimal analysis of WUSV.

关 键 词：波浪驱动 无人水面机器人 波浪能 运动效率 

分 类 号：TK79[动力工程及工程热物理—流体机械及工程]