便携式自主水下机器人动力学建模方法研究 | |
Alternative Title | Research on dynamic modeling of portable autonomous underwater vehicle |
曾俊宝![]() ![]() ![]() ![]() ![]() | |
Department | 水下机器人研究室 |
Source Publication | 计算机应用研究
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ISSN | 1001-3695 |
2018 | |
Volume | 35Issue:6Pages:1747-1750 |
Indexed By | CSCD |
CSCD ID | CSCD:6256456 |
Contribution Rank | 1 |
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 |
Identifier | http://ir.sia.cn/handle/173321/21100 |
Collection | 水下机器人研究室 |
Corresponding Author | 曾俊宝 |
Affiliation | 1.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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便携式自主水下机器人动力学建模方法研究.(520KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Download |
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