考虑互扰效应的链杆式水下机器人动力学建模及仿真OA

To address the incomplete hydrodynamic models in the dynamic modeling of articulated underwater vehicles,a modeling method that accounts for inter-link hydrodynamic interaction is proposed.The kinematic and dynamic equations of the articulated system are derived based on screw theory,and computational fluid dynamics(CFD)is used to analyze how relative poses between adjacent links affect hydrodynamic forces,resulting in a modified hydrodynamic model for complex flow fields.On this basis,maneuvering equations are established and simulations are conducted.The results show that the model can accurately capture the dynamic responses of articulated underwater vehicles in horizontal turning,helical diving,and vertical-plane diving and surfacing,and that considering inter-link hydrodynamic interaction improves modeling accuracy and provides support for the validation of motion control methods.