Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach
来源期刊：中南大学学报(英文版)2015年第12期
论文作者：Tian Bao-qiang Yu Jian-cheng Zhang Ai-qun
文章页码：4578 - 4584
Key words：wave driven unmanned surface vehicle; D-H approach; lagrangian mechanics; dynamic analysis
Abstract: 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.
Tian Bao-qiang(田宝强)1, 2, Yu Jian-cheng(俞建成)1, Zhang Ai-qun(张艾群)1
(1. State Key Laboratory of Robotics (Chinese Academy of Sciences), Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China)
Abstract: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.
Key words:wave driven unmanned surface vehicle; D-H approach; lagrangian mechanics; dynamic analysis
