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Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach
Tian BQ(田宝强); Yu JC(俞建成); Zhang AQ(张艾群)
Department水下机器人研究室
Source PublicationJournal of Central South University
ISSN2095-2899
2015
Volume22Issue:12Pages:4578-4584
Indexed BySCI ; EI
EI Accession number20155101698897
WOS IDWOS:000366635500010
Contribution Rank1
Funding OrganizationState Key Laboratory of Robotics, China ; Projects (61233013, 51179183) supported by the National Natural Science Foundation of China
KeywordWave Driven Unmanned Surface Vehicle D-h Approach Lagrangian Mechanics Dynamic Analysis
AbstractWave 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.
Language英语
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17546
Collection水下机器人研究室
Corresponding AuthorYu JC(俞建成)
Affiliation1.State Key Laboratory of Robotics (Chinese Academy of Sciences), Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Tian BQ,Yu JC,Zhang AQ. Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach[J]. Journal of Central South University,2015,22(12):4578-4584.
APA Tian BQ,Yu JC,&Zhang AQ.(2015).Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach.Journal of Central South University,22(12),4578-4584.
MLA Tian BQ,et al."Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach".Journal of Central South University 22.12(2015):4578-4584.
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