[1]张荣敏,陈原,高军.无鳍舵矢量推进水下机器人纵向稳定性研究[J].哈尔滨工程大学学报,2017,38(01):133-139,152.[doi:10.11990/jheu.201509089]
 ZHANG Rongmin,CHEN Yuan,GAO Jun.Longitudinal handling stability of vectored thrust underwater vehicle without fin and rudder[J].hebgcdxxb,2017,38(01):133-139,152.[doi:10.11990/jheu.201509089]
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无鳍舵矢量推进水下机器人纵向稳定性研究(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
38
期数:
2017年01期
页码:
133-139,152
栏目:
出版日期:
2017-01-25

文章信息/Info

Title:
Longitudinal handling stability of vectored thrust underwater vehicle without fin and rudder
作者:
张荣敏 陈原 高军
山东大学(威海) 机电与信息工程学院, 山东 威海 264209
Author(s):
ZHANG Rongmin CHEN Yuan GAO Jun
School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China
关键词:
水下机器人矢量推进并联机构动力学扰动模型操纵稳定性
分类号:
U664.8
DOI:
10.11990/jheu.201509089
文献标志码:
A
摘要:
为了提高水下机器人低速航行时的机动性,提出了将一种基于球面并联机构的矢量推进螺旋桨应用于水下机器人,建立了旋量形式的六自由度运动学模型。针对矢量推进的二维转动角分解了矢量推力,得到了三维方向上的比例因子,基于牛顿-欧拉法建立了矢量推进水下机器人的动力学模型。同时提出了以矢量推进的比例因子作为输入量,利用拉普拉斯变换建立纵向运动的复数域扰动模型,基于扰动模型提出了无量纲化的矢量推进稳定裕度指标。数值算例验证了水下机器人无鳍舵矢量推进方式的有效性与稳定性。

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备注/Memo

备注/Memo:
收稿日期:2015-09-30
基金项目:国家自然科学基金项目(51375264);山东省科技重大专项(2015JMRH0218);山东省优秀中青年奖励基金项目(BS2013ZZ008);中国博士后特别资助项目(2014T70632).
作者简介:张荣敏(1986-),男,博士;高军(1968-),男,教授,博士生导师;陈原(1976-),男,副教授,博士.
通讯作者:陈原,E-mail:cyzghysy@sdu.edu.cn.
更新日期/Last Update: 2017-02-10