摘要
In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane's approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces: added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane's method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.
In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane＇s dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces： added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane＇s method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.
基金
the National Natural Science Foundation of China(No.51009091)
the Special ResearchFund for the Doctoral Program of Higher Education ofChina(No.20100073120016)
