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本文提出了一种旋转自主式水下机器人的构想,简要说明了其系统结构和工作原理,分析了其在空间运动中所受力和力矩的情况,推导出其空间运动方程.通过计算机仿真对所推导的水下机器人空间运动方程进行了验证 相似文献
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自治水下机器人全自由度仿真 总被引:4,自引:0,他引:4
由于自治水下机器人的复杂性,系统仿真技术变得越来越重要,系统地分析了自治水下机器人(AUV,Autonomous UnderwaterVehicle)的运动模型和空间运动方程,运用MATAB下的SIMULINK,设计了自治水下机器人的全自由度仿真工具箱,包括机器人本体运动,位姿求解和坐标系统转换等多个部分,可以方便地进行控制方法的全自由度的仿真。 相似文献
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研究设计了一个鲁棒H∞滤波器来解决自治水下机器人(AUV)航向控制系统中部分难以测量状态变量的估计问题,并将其应用在AUV的航向控制系统中.建立了自治水下机器人在体坐标系下水平面运动的运动方程,并在特定的工作点对方程进行了线性化处理,得到了自治水下机器人的控制设计模型.基于线性矩阵不等式(LMI)方法对AUV航向控制系统设计了一个鲁棒H∞滤波器,并对该滤波器应用于AUV航向控制系统进行了仿真试验.仿真结果表明,该鲁棒H∞滤波器能够较好地抑制测量噪声的影响,较准确地估计出系统的状态变量,能够提高AUV航向控制系统的控制品质. 相似文献
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研究设计了一个鲁棒H^∞滤波器来解决自治水下机器人(AUV)航向控制系统中部分难以测量状态变量的估计问题,并将其应用在AUV的航向控制系统中.建立了自治水下机器人在体坐标系下水平面运动的运动方程,并在特定的工作点对方程进行了线性化处理,得到了自治水下机器人的控制设计模型.基于线性矩阵不等式(LMI)方法对AUV航向控制系统设计了一个鲁棒H^∞滤波器,并对该滤波器应用于AUV航向控制系统进行了仿真试验.仿真结果表明,该鲁棒H^∞滤波器能够较好地抑制测量噪声的影响,较准确地估计出系统的状态变量,能够提高AUV航向控制系统的控制品质. 相似文献
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小襟翼对自治式水下机器人潜浮运动的影响 总被引:1,自引:0,他引:1
无动力大纵倾角的下潜和上浮方式对自治式水下机器人具有很大的意义.但是这种潜浮方式却无法满足自治式水下机器人潜浮位置范围及航向控制的要求.采用在稳定翼上加装小襟翼的方法,即可以解决这一难题.本文介绍了小襟翼对自治式水下机器人无动力潜浮运动轨迹的影响,并通过自治式水下机器人的运动方程,结合“CR-01”6000m自治式水下机器人的深海试验结果,对这一影响作了定性地分析.为通过试验找出最佳小襟翼提供了理论基础 相似文献
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针对海流扰动及姿态、航向误差角引起的无法确知的导航系统模型误差, 设计了一种带模型误差的自适应无迹卡尔曼滤波器(Adaptive unscented Kalman filter, AUKF)用于小型水下机器人(Small autonomous underwater vehicle, SAUV)推位导航系统. 首先提出了小型水下机器人三维运动连续时间模型; 然后针对该模型特点, 基于极大后验估值原理推导了AUKF算法. 仿真结果说明该算法能够克服海流扰动及姿态和航向误差引起的模型误差. 对比经典无迹卡尔曼滤波器算法, 采用该算法的小型水下机器人推位导航系统在复杂海况下的滤波精度显著提高. 相似文献
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R.J. Minnaar D.A. Tortorelli J.A. Snyman 《Structural and Multidisciplinary Optimization》2001,21(5):345-354
This paper presents a general method for treating nonassembly in the optimal synthesis of planar mechanisms. The synthesis
is performed with gradient based optimization algorithms and the sensitivities are calculated analytically through the method
of direct differentiation. The analysis is based on the well-established and general method of computational kinematics. In
this study the residuals of the joint constraint equations are minimized rather than equated to zero. This makes it possible
to perform the kinematic analysis for any proposed design even though it may not be possible to assemble the mechanism. Several
examples are provided.
Received July 25, 2000 相似文献
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针对五轴机床对带倾斜面类零件加工时编程难度大且精度较低的问题,采用31/21/2轴加工方法,通过定义可以简化加工编程的空间特性坐标系建立了任意结构五轴机床31/21/2轴加工的运动学模型.利用齐次变换矩阵和正向、逆向运动学相结合的方法详细论述了基于特性坐标系的适合三种典型五轴机床的31/21/2轴加工算法.此算法把31/21/2轴加工的空间编程问题转化为倾斜面平面编程问题,不仅简化编程而且可提高机床加工能力和生产效率.通过仿真实验验证了该算法的可靠性和高效性. 相似文献
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The paper focuses on the problem of transforming the discrete-time single-input single-output nonlinear state equations into the extended observer form, which, besides the input and output, also depends on a finite number of their past values. The simple necessary and sufficient conditions for the existence of the extended coordinate change and the output transformation, allowing to solve the problem, are formulated in terms of certain partial derivatives, related to the input–output equation, corresponding to the state equations. Moreover, a certain algorithm for transforming the state equations into the observer form is proposed. 相似文献
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The paper addresses the problem of transforming discrete‐time multi‐input multi‐output nonlinear state equations into the extended observer form, which, besides the inputs and outputs, also depends on a finite number of their past values. Necessary and sufficient conditions for the existence of the extended coordinate transformation are formulated in terms of differential one‐forms, associated with the input‐output equations, corresponding to the state equations. The difference between the single‐input single‐output and multi‐input multi‐output cases is described. The applicability of the conditions is illustrated by an example. 相似文献
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The paper addresses the problem of transforming discrete-time single-input single-output nonlinear state equations into the extended observer form, which, besides the input and output, also depends on a finite number of their past values. Necessary and sufficient conditions for the existence of both the extended coordinate and output transformations, solving the problem, are formulated in terms of differential one-forms, associated with the input–output equation, corresponding to the state equations. An algorithm for transformation of state equations into the extended observer form is proposed and illustrated by an example. Moreover, the considered approach is compared with the method of dynamic observer error linearisation, which likewise is intended to enlarge the class of systems transformable into an observer form. 相似文献
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柔性两轮直立式自平衡仿人机器人的建模及控制 总被引:1,自引:0,他引:1
研究了柔性两轮直立式自平衡仿人机器人的动力学建模问题.运用拉格朗日方法和动力学原理建立了柔性两轮自平衡仿人机器人的动力学模型.使用弹簧模仿人的腰椎,并考虑了机器人的柔性腰椎弯曲;这是与以前机器人的不同之处.对得到的动力学模型进行了线性化处理,并建立其状态空间方程;由此建立的动力学模型结构简单,易于对机器人进行有效控制.仿真实验验证了系统的稳定性,对其实验结果进行的详细分析验证了系统建模和LQR控制器设计的合理性和有效性. 相似文献
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This paper is the second one devoted to studying the dynamical behavior of a rotating uniform string with one fixed top point. Two-dimensional shapes of relative equilibrium for a string were analyzed in our paper [3] both analytically and numerically and found to be instable. This fact disagrees with the experimental appearance of this so-called helicoseir problem because one can easily demonstrate that its stable motion is possible. In this paper, spatial nonlinear equations of motion are derived and shown that a 2D equilibrium equation is one of their partial cases. The equations are, however, very complicated that is why we decided at first to analyze the motion numerically by a finite element approach called the absolute nodal coordinate formulation (ANCF). We developed a new 12-dof element of a thin string based on the Euler-Bernoulli theory. The simulation shows that the undamped spatial motion of the helicoseir is stable and looks like self-excited oscillations near the flat instable configurations that were obtained previously. This stability is destroyed when external damping is added to the system. Some examples of bifurcation instability fore spatial motion are presented; they satisfy the bifurcation diagram obtained in the previous work. Unfortunately, numerical simulation cannot give answers to some interesting questions, e.g. dependence of parameters of the self-excited oscillations on the angular velocity of rotation. Thus, further analytical research of this problem is desirable. 相似文献