Knowledge Commons of Institute of Automation,CAS
Data-Driven Hydrodynamic Modeling for a Flippers-Driven Underwater Vehicle-Manipulator System | |
Wang Y(王宇)2![]() ![]() ![]() ![]() ![]() | |
2020 | |
会议名称 | 2020 IEEE 9th Data Driven Control and Learning Systems Conference (DDCLS) |
会议日期 | 20-22 Nov. 2020 |
会议地点 | Liuzhou, China |
摘要 | In this study, a data-driven hydrodynamic modeling method for a flippers-driven underwater vehicle-manipulator system (F-UVMS) is proposed. The modeling method combines parameter identification technique and computational fluid dynamics simulation, which makes the acquisition of hydrodynamic coefficients efficient and convenient. The hydrodynamic analysis of the biomimetic flipper propulsor is completed and the relationships between the generated forces and the motion parameters of the biomimetic flipper propulsor are revealed. The wake effects are analyzed to reveal the mechanism of the biomimetic flipper propulsor. Lift and drag coefficients are identified by the hydrodynamic data and the dynamic model of the biomimetic flipper propulsor is derived. The proposed hydrodynamic model is applied to the position control strategy of the F-UVMS. The motion experiments of the F-UVMS are conducted in the sea and the motion patterns of the F-UVMS are validated. |
关键词 | Data driven modeling underwater vehicle-manipulator system underwater biomimetic vehicle hydrodynamic modeling |
DOI | 10.1109/DDCLS49620.2020.9275223 |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46586 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Cheng L(程龙) |
作者单位 | 1.中国科学院大学 2.中国科学院自动化研究所 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang Y,Bai XJ,Cheng L,et al. Data-Driven Hydrodynamic Modeling for a Flippers-Driven Underwater Vehicle-Manipulator System[C],2020. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
DDCLS-Data-Driven_Hy(6505KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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