哈尔滨工程大学学报2026，Vol.47Issue(5)：941-948,8.DOI:10.11990/jheu.202510003
考虑互扰效应的链杆式水下机器人动力学建模及仿真
Research on dynamic modeling and simulation of articulated underwater vehicles considering hydrodynamic interaction effects
摘要
Abstract
To address the incomplete hydrodynamic models in the dynamic modeling of articulated underwater vehicles,a modeling method that accounts for inter-link hydrodynamic interaction is proposed.The kinematic and dynamic equations of the articulated system are derived based on screw theory,and computational fluid dynamics(CFD)is used to analyze how relative poses between adjacent links affect hydrodynamic forces,resulting in a modified hydrodynamic model for complex flow fields.On this basis,maneuvering equations are established and simulations are conducted.The results show that the model can accurately capture the dynamic responses of articulated underwater vehicles in horizontal turning,helical diving,and vertical-plane diving and surfacing,and that considering inter-link hydrodynamic interaction improves modeling accuracy and provides support for the validation of motion control methods.关键词
链杆式水下机器人/多体动力学/水动力/运动仿真/互扰效应/操纵性/旋量理论/计算流体力学Key words
articulated underwater vehicle/multibody dynamics/hydrodynamics/motion simulation/interaction effects/maneuverability/screw theory/computational fluid dynamics分类
信息技术与安全科学引用本文复制引用
盛聪,姜言清,张君蕊,李航,李昊政,胡测..考虑互扰效应的链杆式水下机器人动力学建模及仿真[J].哈尔滨工程大学学报,2026,47(5):941-948,8.基金项目
国家重点研发计划(2023YFC2810500) （2023YFC2810500）
三亚崖州湾科技城科技专项资助项目(SKJC-2022-PTDX-012). （SKJC-2022-PTDX-012）
