Kane dynamics modeling of X-rudder underactuated AUV
X-rudder underactuated AUV has complex structure and more interaction force between rudder and body,so it is very difficult to model its dynamics.In order to overcome the influence of the interaction force on the modeling process,the Kane dynamics modelling of the X-rudder underactuated AUV are deduced by introducing the related knowledge of Kane dynamics.Based on the generalized coordinates,the calculation formulas of the generalized velocity,partial velocity and partial angular velocity at the point of action of the force are deduced,the methods for calculating the generalized active force and the generalized inertial force are given,and the modeling steps of Kane dynamics are shown.The effectiveness of the modeling method is verified by the motion simulation of horizontal and vertical planes.The modeling method can avoid the calculation of the interaction force and clearly show the contribution of the force to the dynamic model.
X-rudder underactuated AUVKane dynamicsgeneralized active forcegeneralized inertia force
万方数据
维普
