中南大学学报（英文版）
中南大學學報（英文版）
중남대학학보（영문판）
Journal of Central South University
2015年
12期
4578-4584
,共7页
wave driven unmanned surface vehicle%D-H approach%Lagrangian mechanics%dynamic analysis
Wave driven unmanned surface vehicle (WUSV) is a new concept ocean robot drived by wave energy and solar energy, and it is very suitable for the vast ocean observations with incomparable endurance. Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis. In this work, the multibody system of WUSV was described based on D-H approach. Then, the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics. Finally, the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state. Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process, and the results are consistent with the wave theory.
