中国造船
中國造船
중국조선
SHIPBUILDING OF CHINA
2010年
1期
63-72
,共10页
张燕%徐国华%徐筱龙%余琨
張燕%徐國華%徐篠龍%餘琨
장연%서국화%서소룡%여곤
船舶、舰船工程%开架式有缆水下机器人%水动力系数%拖曳试验%最小二乘法
船舶、艦船工程%開架式有纜水下機器人%水動力繫數%拖抴試驗%最小二乘法
선박、함선공정%개가식유람수하궤기인%수동력계수%타예시험%최소이승법
ship engneering%Remotely Operated Vehicles%hydrodynamic coefficients%dragging test%method of least squares
水下机器人水动力系数的准确测定,是对机器人运动进行仿真和控制的前提.以形状复杂的开架式有缆水下机器人(ROV)作为研究对象,通过一系列水动力试验,计算出适用于开架式水下机器人模型的几个重要的实时水动力系数,为自主遥控水下机器人(ARV)的运动仿真提供了数据支撑,进而为ARV的控制奠定了基础.
水下機器人水動力繫數的準確測定,是對機器人運動進行倣真和控製的前提.以形狀複雜的開架式有纜水下機器人(ROV)作為研究對象,通過一繫列水動力試驗,計算齣適用于開架式水下機器人模型的幾箇重要的實時水動力繫數,為自主遙控水下機器人(ARV)的運動倣真提供瞭數據支撐,進而為ARV的控製奠定瞭基礎.
수하궤기인수동력계수적준학측정,시대궤기인운동진행방진화공제적전제.이형상복잡적개가식유람수하궤기인(ROV)작위연구대상,통과일계렬수동력시험,계산출괄용우개가식수하궤기인모형적궤개중요적실시수동력계수,위자주요공수하궤기인(ARV)적운동방진제공료수거지탱,진이위ARV적공제전정료기출.
It is the prerequisite for the simulation and controlling of underwater vehicles that the hydrodynamic coefficients are measured accurately. A series of hydrodynamic tests were carried out with a complex shape remotely operated vehicle as the test model, and the important coefficients is figured out, which could be applicable for the open-shelf underwater vehicle (ROV). What's more, these hydrodynamic coefficients could be used for the simulation of ARV (which was rebuilt by ROV), and it is the database for the controlling of ARV.
