A simplified dynamics modeling of a spherical underwater vehicle

Xichuan Lin, Shuxiang Guo, Yanling Hao, Xiufen Ye, Chenguang Qiu, Juan Du
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引用次数: 17

Abstract

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.
球形水下航行器的简化动力学建模
提出了一种由喷水马达驱动的球形水下航行器。它具有体积小、重量轻、运动灵活、无噪音等特点。本文根据整车的设计,对整车的动力学模型进行了分析;建立了整车动力学模型。对飞行器螺旋桨的动力学模型进行了建模分析。为简化起见,在处理该球形水下航行器时,只考虑两种水动力阻尼力。根据该球形水下航行器的结构和运动特点,简化了动力学建模。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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