Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach

Abstract

Wave driven unmanned surface vehicle (WUSV) is a new concept ocean robot drived by wave energy and solar energy, and it is very suitable for the vast ocean observations with incomparable endurance. Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis. In this work, the multibody system of WUSV was described based on D-H approach. Then, the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics. Finally, the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state. Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process, and the results are consistent with the wave theory.

Keywords

wave driven unmanned surface vehicle / D-H approach / Lagrangian mechanics / dynamic analysis

References

[1] ZhangQ-f, ZhangA-qun. Coordinated motion of an autonomous underwater vehicle-manipulator system based on energy consumption minimization [J]. Robot, 2006, 28(4): 444-447

[2] LiuK-z, LiJ, GuoW, ZhuP-q, WangX-hui. Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm [J]. Journal of Central South University, 2014, 21(2): 550-557

[3] HineR, WillcoxS, HineG, RichardsonT. The wave glider: A wave-powered autonomous marine vehicle [C]. Proceedings of MTS/IEEE OCEANS 2009, 20091-6

[4] DanielT, ManleyJ, TrenamanN. The wave glider: Enabling a new approach to persistent ocean observation and research [J]. Ocean Dynamics, 2011, 61(10): 1509-1520

[5] FossenT IGuidance and control of ocean vehicles [M], 1994New YorkJohn Wiley & Sons Ltd18-30

[6] LeonardN E, GraverJ G. Model-based feedback control of autonomous underwater gliders [J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 633-645

[7] QiZ-f, LiuW-x, JiaL-j, QinY-f, SunXiujun. Dynamic modeling and motion simulation for wave glider [C]. 3rd International Conference on Advanced Design and Manufacturing Engineering, ADME 2013, 2013285-290

[8] CaitiA, CalabroV, GrammaticoS, MunafoA, StifaniM. Lagrangian modeling of the underwater wave glider [C]. Proceedings of OCEANS 2011, 20111-6

[9] DenavitJ, HartenbergR S. A kinematic notation for lower-pair mechanisms based on matrices [J]. ASME Journal of Applied Mechanics, 1955, 22(6): 215-221

[10] XiongY-l, DingH, LiuE-cang. Robotics [M]. Beijing China Machine Press, 199354-60

[11] AngelesJ. fundamentals of robotic mechanical systems: Theory, methods, and algorithms [M]. 2nd ed. New York: Springer-Verlag., 2002106-113

[12] TianB-q, YuJ-c, ZhangA-q, JinW-m, ZhaoW-t, ChenZ-er. Analysis on movement efficiency for wave driven unmanned surface vehicle [J]. Robot, 2014, 36(1): 43-48

[13] TianB-q, YuJ-c, ZhangA-q, ZhangF-m, ChenZ-e, SunKai. Dynamics analysis of wave-driven unmanned surface vehicle in longitudinal profile [C]. Proceedings of OCEANS 2014 MTS/IEEE Conference, 20141-6

[14] AmundarainM, AlberdiM, GarridoA J, GarridoI. Modeling and simulation of wave energy generation plants: Output power control [J]. IEEE Transactions on Industrial Electronics, 2011, 58(1): 105-117

[15] BoccottiPWave mechanics for ocean engineering [M], 2000UKElsevier Science119-136

[16] KorotkinA, LexandrIAdded masses of ship structures [M], 2010New YorkSpringer229-230

[17] FaltinsenO MSea loads on ships and offshore structures [M], 1993UKCambridge University Press49-55