Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach  

作　　者：田宝强 俞建成 张艾群 

机构地区：[1]State Key Laboratory of Robotics (Chinese Academy of Sciences) [2]University of Chinese Academy of Sciences

出　　处：《Journal of Central South University》2015年第12期4578-4584,共7页中南大学学报（英文版）

基　　金：Project(2012-Z05)supported by the State Key Laboratory of Robotics,China;Projects(61233013,51179183)supported by the National Natural Science Foundation of China

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.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.

关 键 词：wave driven unmanned surface vehicle D-H approach Lagrangian mechanics dynamic analysis 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]