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光纤微缆对SARV操纵性的影响分析
Alternative TitleEffects Analysis of Fiber Optic Micro Cable for SARV Maneuverability
唐元贵; 张艾群; 李硕; 任申真
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2007
Volume23Issue:20Pages:202-204
Indexed ByCSCD
CSCD IDCSCD:3139466
Contribution Rank1
Funding Organization中国科学院创新基金(03F6060601)
KeywordSarv 光纤微缆 集中质量法 直接计算法 操纵性
Abstract以新概念小型自治遥控水下机器人SARV及其光纤微缆系统为研究对象,在对光纤微缆进行受力分析的基础上,采用集中质量法建立了光纤微缆的动力学模型。结合作业中SARV载体的实际运动,利用直接计算法分析了不同运动状态下光纤微缆对SARV载体产生的附加力和附加力矩及其对SARV载体操纵性的影响,并提出了合理的操纵建议。为SARV载体端设计光纤微缆释放装置张力控制提供了一定的理论依据,在一定程度上有助于完善SARV控制系统,提高SARV航行的稳定性。
Other AbstractA new generation of Small Autonomous and Remotely operated Vehicle(SARV) and it’s Fiber Optic Micro Cable(FOMC) sys-tem are the research objects. Based on the force analysis of FOMC, the dynamic model of FOMC is set up by means of lumped mass method. Combined with the actual movements of SARV during the working process, the additional forces and moments that induced by FOMC for SARV and their effects on SARV moving speed are studied in each moving state of SARV, using the direct calculation method, and reasonable manipulative methods are proposed. These are the academic principles for tension controlling of FOMC releasing system inside SARV body, and can perfect SARV control system and improve SARV maneuverability to a certain extent.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3544
Collection水下机器人研究室
Corresponding Author唐元贵
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
唐元贵,张艾群,李硕,等. 光纤微缆对SARV操纵性的影响分析[J]. 微计算机信息,2007,23(20):202-204.
APA 唐元贵,张艾群,李硕,&任申真.(2007).光纤微缆对SARV操纵性的影响分析.微计算机信息,23(20),202-204.
MLA 唐元贵,et al."光纤微缆对SARV操纵性的影响分析".微计算机信息 23.20(2007):202-204.
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