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AUV模块化建模的一种方法 被引量:2

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摘要 针对AUV(自主式水下航行器)的建模提出了一种新的方法。该方法对组成AUV的各个部分进行的模块化建模,当AUV在改变或更换一些部件配置以满足不同的任务需求时,只需对更改模块进行必要的计算,其他未变动的模块数据可以重复使用,从而快速方便的得到新模型。该方法的准确性通过仿真结果与其他已知模型进行比较验证。
出处 《机械》 2007年第9期7-9,共3页 Machinery
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参考文献8

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同被引文献40

  • 1续秀忠,张志谊,华宏星.基于时频滤波和自回归建模方法的时变模态参数辨识[J].上海海事大学学报,2005,26(4):1-5. 被引量:4
  • 2刘云霞,林孝工,王智学.水下机器人运动系统的神经网络辨识[J].机械工程与自动化,2006(2):81-83. 被引量:4
  • 3陈玮琪,颜开,史淦君,王士同,刘志勇.水下航行体水动力参数智能辨识方法研究[J].船舶力学,2007,11(1):40-46. 被引量:15
  • 4钱东,崔立.开放系统——鱼雷和UUV设计的方向[J].鱼雷技术,2007,15(2):1-7. 被引量:4
  • 5INDIVERI G. A switching path following guidance control law for an underactuated marine vehicle [ R ]. IFAC Conference on Control Applications in Marine Systems, CAMS04, Ancona, Italy ,2004.
  • 6BARROS E. AUV Dynamics: Modeling and parameter estimation using analytical and semi-empirical methods [ R]. DSORL-ISR Technical Report,2003.
  • 7朱大奇,胡震.水下机器人故障诊断与容错控制技术[M].北京:国防工业出版社,2012.
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  • 10ZHANG H W, WANG S X. Modelling and analysis of an autonomous underwater vehicle via multibody system dynamics[ C]//Proc 12th IFToMM World Congress, Besancon, France, 2007: 1-6.

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