• CN:11-2187/TH
  • ISSN:0577-6686

›› 2014, Vol. 50 ›› Issue (2): 19-27.

• 论文 • 上一篇    下一篇

混合驱动水下滑翔机动力学建模与海试研究

王树新;刘方;邵帅;王延辉;牛文栋;吴芝亮   

  1. 天津大学机构理论与装备设计教育部重点实验室
  • 发布日期:2014-01-20

Dynamic Modeling of Hybrid Underwater Glider Based on the Theory of Differential Geometry and Sea Trails

WANG Shuxin;LIU Fang;SHAO Shuai;WANG Yanhui;NIU Wendong;WU Zhiliang   

  1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University
  • Published:2014-01-20

摘要: 从能量的角度出发,引入黎曼几何和仿射联络,基于微分几何理论建立混合驱动水下滑翔机动力学微分几何模型。基于上述模型,分析混合驱动水下滑翔机系统驱动方式、姿态调节方式及其航行过程中所受外部力与力矩作用,同时针对目前所研制的混合驱动水下滑翔机纵垂面“之”字形剖面滑翔运动进行数值模拟分析,得到控制输入量与混合驱动水下滑翔机运动特性之间关系,并将数值模拟结果与南海试验数据进行对比,验证了该动力学微分几何模型的有效性,为改善混合驱动水下滑翔机系统设计及其动力学行为预报提供参考依据。

关键词: 混合驱动水下滑翔机;微分几何;动力学建模

Abstract: A dynamic differential geometry model of a hybrid underwater glider is established from the viewpoint of energy using the Riemannian differential geometry and affine connection. The model is used to analyze dynamics of the hybrid underwater glider system, including the hybrid driving systems, the posture adjustment systems, as well as the external force and torque. Numerical simulation is also conducted to analyze the saw tooth motion pattern in the vertical plane. The relationship between control inputs and characteristic motion parameters is obtained accordingly. Comparison between the simulation results and the experimental data recorded in the South China Sea shows a good agreement, verifying the validity of the proposed dynamic differential geometry model. This work provides guidance for dynamical behavior prediction and system design improvements for the hybrid underwater glider.

Key words: hybrid underwater glider;differential geometry;dynamics modeling

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