水下机器人研究室知识库

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．

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.