A Simplified Dynamics Modeling of a Spherical Underwater Vehicle

被引：0

作者：

Lin, Xichuan ^{[1
]}

Guo, Shuxiang ^{[1
]}

Hao, Yanling ^{[1
]}

Ye, Xiufen ^{[1
]}

Qiu, Chenguang ^{[1
]}

Du, Juan ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang Pr, Peoples R China

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年

关键词：

spherical underwater vehicle; added mass; lineal damping; quadratic damping; dynamics equation;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper proposes a spherical underwater vehicle which is propelled by water-jetted motors. It has many characteristics such as small size, light weight, flexibility of motion and noiselessness. In this paper, the dynamics model of the vehicle is analysed according to its design; and the vehicle's dynamics model is developed. The dynamics model of propellers for the vehicle is also analysed for modeling. For the sake of simplification, only two hydrodynamic damping forces are taken into account when dealing with this spherical underwater vehicle. Dynamics modeling is simplified according to the architecture and kinematic characteristics of this spherical underwater vehicle.

引用

页码：1140 / 1145

页数：6

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