复杂构型水下机器人水动力导数及运动性能预报

基于黏流理论的数值计算软件FINE/Marine求解机器人本体以不同时间周期进行纯升沉、纯横荡、纯转艏和纯纵荡运动，得出带缆遥控水下机器人（Remote Operated Vehicle，ROV）受到的垂向力、横向力（矩）、转艏力（矩）和纵向力。基于MATLAB软件平台，利用系统辨识方法确定4个自由度线性水动力导数，将其代入运动数学模型，完成复杂构型水下机器人的回转运动预报。

Hydrodynamic Derivatives and Motion Performance Prediction for Complex Underwater Vehicle

Based on the numerical simulation software FINE/Marine of viscous flow theory, the pure heave, pure sway, pure bow and pure surge motions of the robot body at different time periods are solved, and the vertical force, transverse force (moment), bow force (moment) and longitudinal force of the Remote Operated Vehicle (Remote Operated Vehicle, ROV) are obtained. Based on the MATLAB software platform, the system identification method is used to determine the linear hydrodynamic derivatives of four degrees of freedom, which are substituted into the motion mathematical model to complete the rotary motion prediction of the complex underwater robot.