水下无人系统学报2023，Vol.31Issue(6)：885-890,6.DOI:10.11993/j.issn.2096-3920.2022-0085
基于Kane动力学的十字舵型欠驱动AUV建模与仿真
Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics
摘要
Abstract
In order to obtain a more accurate dynamics model of autonomous undersea vehicles(AUVs),the kinematics and dynamics equations of the cross-rudder underactuated AUV were deduced by introducing the related knowledge of Kane dynamics.By taking the position,attitude,horizontal rudder angle,and vertical rudder angle of the AUV as generalized coordinates,the calculation formulas of generalized velocity,partial velocity,and partial angular velocity were deduced,and the calculation methods of generalized active force and generalized inertia force were analyzed.In addition,the modeling steps of Kane dynamics were given,and the effectiveness of the modeling method was verified by simulation experiments.关键词
自主水下航行器/Kane动力学/广义主动力/广义惯性力Key words
autonomous undersea vehicle/Kane dynamics/generalized active force/generalized inertia force分类
军事科技引用本文复制引用
杨柯..基于Kane动力学的十字舵型欠驱动AUV建模与仿真[J].水下无人系统学报,2023,31(6):885-890,6.基金项目
中国计量大学科研启动基金项目资助(01101/200853). （01101/200853）
