【摘要】 水下机器人水动力系数的准确测定,是对机器人运动进行仿真和控制的前提。以形状复杂的开架式有缆水下机器人(ROV)作为研究对象,通过一系列水动力试验,计算出适用于开架式水下机器人模型的几个重要的实时水动力系数,为自主遥控水下机器人(ARV)的运动仿真提供了数据支撑,进而为ARV的控制奠定了基础。更多还原

【Abstract】 It is the prerequisite for the simulation and controlling of underwater vehicles that the hydrodynamic coefficients are measured accurately.A series of hydrodynamic tests were carried out with a complex shape remotely operated vehicle as the test model,and the important coefficients is figured out,which could be applicable for the open-shelf underwater vehicle(ROV).What’s more,these hydrodynamic coefficients could be used for the simulation of ARV(which was rebuilt by ROV),and it is the database for the controlling of ARV.更多还原