| 自治式水下监测机器人的动态性能分析 |
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| 引用本文： | 王文富,王延辉,李晓平.自治式水下监测机器人的动态性能分析[J].组合机床与自动化加工技术,2005(1):42-44. |
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| 作者姓名： | 王文富 王延辉 李晓平 |
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| 作者单位： | 1. 天津大学管理学院,天津,300072
2. 天津大学机械学院,天津,300072 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 文章介绍了两种自治式水下监测机器人:垂直运动水下机器人和滑翔运动水下机器人,讨论了它们各自的特点与工作方式.结合水下监测机器人的试验模型,该文对其沉浮阶段的运动过程进行了动力学分析,讨论了它们在垂直剖面上的运动情况,推导了动力学方程.这些对于确定水下监测机器人的各项参数和设计控制器与观测器具有重要的指导价值.
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| 关 键 词： | 水下监测机器人 动力学建模 拉格朗日方程 |
| 文章编号： | 1001-2265(2005)01-0042-03 |
| 修稿时间： | 2004年7月14日 |
Analysis on Dynamic Characteristics of Autonomous Underwater Observing Vehicles |
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| WANG En-fu a,WANG Yan-hui b,LI Xiao-ping b.Analysis on Dynamic Characteristics of Autonomous Underwater Observing Vehicles[J].Modular Machine Tool & Automatic Manufacturing Technique,2005(1):42-44. |
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| Authors: | WANG En-fu a WANG Yan-hui b LI Xiao-ping b |
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| Abstract: | Two kinds of autonomous underwater observing vehicles were introduced here. one is a bobbing underwater vehicle and the other is a gliding underwater vehicle. We studied their working characteristics respectively. We gave dynamic analysis of these vehicles when they were sinking and rising based on the experimental models of underwater observing vehicles. We derived the dynamic equations of both of them in the vertical plane. This was important to identify the parameters of underwater vehicles and to design controller and observer of them. |
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| Keywords: | underwater observing vehicle modeling of dynamics Lagrange Equation |
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