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便携式自主水下机器人动力学建模方法研究
Alternative TitleResearch on dynamic modeling of portable autonomous underwater vehicle
曾俊宝; 李硕; 刘鑫宇; 李一平; 王晓辉
Department水下机器人研究室
Source Publication计算机应用研究
ISSN1001-3695
2018
Volume35Issue:6Pages:1747-1750
Indexed ByCSCD
CSCD IDCSCD:6256456
Contribution Rank1
Funding Organization国家”863”计划资助项目(2011AA09A105) ; 国家自然科学基金重点项目(61233013)
Keyword便携式auv 动力学建模 计算流体力学 非线性最优化辨识
Abstract

针对50 kg级便携式自主水下机器人(AUV)的精确控制和研究,介绍了一种基于计算流体力学(CFD)和非线性最优化辨识的动力学建模方法.着重推导了便携式AUV动力学模型,并使用计算流体力学方法代替水池实验获取辨识所需数据和通过非线性最优化方法获得合适的模型结构和模型参数.最终建立了便携式AUV数学模型,并通过对仿真数据与实验数据的对比,证明了该模型及方法的有效性.

Other Abstract

In order to accuracy control and study the 50 kg portable AUV (autonomous underwater vehicle), this paper presented a dynamic modeling method based on computational fluid dynamics (CFD) and nonlinear optimization identification. First, it derived the portable AUV dynamic model, and then instead of pool experiments this paper used the data, which was required by parameters identification and obtained through CFD calculations, and nonlinear optimization to find the appropriate model structure and model parameters. Finally, it shown the results of dynamic modeling of portable AUV, and the comparison of simulation data and test data verified the validity of the model and method.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21100
Collection水下机器人研究室
Corresponding Author曾俊宝
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
曾俊宝,李硕,刘鑫宇,等. 便携式自主水下机器人动力学建模方法研究[J]. 计算机应用研究,2018,35(6):1747-1750.
APA 曾俊宝,李硕,刘鑫宇,李一平,&王晓辉.(2018).便携式自主水下机器人动力学建模方法研究.计算机应用研究,35(6),1747-1750.
MLA 曾俊宝,et al."便携式自主水下机器人动力学建模方法研究".计算机应用研究 35.6(2018):1747-1750.
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