基于修正的REMUS水下机器人模型的运动仿真

将Timothy Prestero提出的REMUS水下机器人的数学模型进行修正之后应用到某水下机器人上,结合某水下机器人的各水动力系数和参数进行运动仿真.原REMUS模型中的舵力(矩)和螺旋桨推力(矩)是通过相关艇体水动力系数来表征的,而修正的模型使用升力系数和阻力系数来得到舵力和力矩,使用插值的方法来得到螺旋桨的推力和力矩.基于此修正的REMUS模型,进行水平面直航运动、垂直面纯下潜运动、全回转运动、水平面Z型运动、垂直面梯形运动以及定常螺旋下潜运动的仿真和分析,以验证将此修正的REMUS模型应用于某水下机器人上的可行性.

Motion simulation based on the modified REMUS model

The REMUS simulation model presented by Timothy Prestero is modified and then used to simulate the mini-AUV developed in Harbin Engineering University.In the original REMUS model,the forces and moments of rudder and propeller are expressed by corresponding hull hydrodynamic coefficients.In the modified one,however,the forces and moments of rudder are presented by lifting and dragging coefficients and the forces and moments of propeller are obtained by the interpolation method.The simulation results and analysis based on the modified REMUS model have been presented by a series of classic motions including moving forward,diving,circle maneuver,zigzag maneuver,motion of trapezoid steering in a vertical plane and spiral diving to verify the feasibility of this modified REMUS model.