摘要
常压潜水服是含有部分人力驱动的特殊水下设备,因此纵倾和横倾需要调节到可供人力改变的状态。文章根据潜水服的结构特点建立了动力学模型用于描述这一动力学特性,引入了通过总布置优化得到的恢复力和水流作用力。动力学建模中也考虑了由于潜水服在水下的四肢活动行程中可变的形状,附加质量性质也发生了变化。模拟了潜水服的水下活动,诸如慢速转动、行走、举手等,结果显示了其具有良好的水下操控性能。
Atmospheric diving suit(ADS)is driven by manpower and propeller.The pitch and roll restoring moments should be adjusted to be suitable for man driven.In this paper,kinematics model of ADS is established by introducing a well arranged restoring force and hydrodynamic force.The added mass of ADS is modeled by Hess-Smith method according to posture.General activities such as slow rotation,walk,hands rising are simulated.Results indicate a good performance of the underwater operation and control of ADS.
作者
高慧
王志博
GAO Hui;WANG Zhi-bo(School of Naval Architecture,Ocean&Civil Engineering,Jiangsu University of Science and Technology, Zhangjiang 215600,China)
出处
《船舶力学》
EI
CSCD
北大核心
2018年第9期1111-1123,共13页
Journal of Ship Mechanics
基金
Supported by the National Natural Science Foundation of China(Grant No.51709133)
关键词
附加质量
运动建模
控制参数
仿真
added mass
kinematics model
restore force
posture simulation
