摘要
在对自主式水下航行器的空间六自由度运动进行研究的基础上,用牛顿力学方法和拉哥朗日方法推导了适于在Simulink环境下仿真的空间运动矢量模型,并建立了可移植性和功能强大的自主式水下航行器的空间六自由度运动仿真模块,解决了耦合非线性运动方程解算难、仿真难和显示难的问题,为自主式水下航行器及其它的高科技飞行器的研究和设计提供了便利的工具。
This paper makes a study of the 6 degrees of freedom(6DOF) motions of autonomous underwater vehicles(AUV) ,and employs Newtonian approach and Lagrangian approach to derive the simulation vector model of the 6DOF motions suited for the Simulink . A powerful and transportable simulation model block of the 6DOF motions of AUV is made, which clears up the difficulties of computation, simulation, and display of the coupled nonlinear motion equations, and provides a convenient tool for the research and design of AUV and other high-technology crafts.
出处
《系统仿真学报》
CAS
CSCD
2003年第4期538-540,共3页
Journal of System Simulation
