构建六自由度平台，实现实体水下航行器的全频段动力学测试。
Six-Degree-of-Freedom Motion Emulation for Data-Driven Modeling of Underwater Vehicles
- 用六自由度平台替代传统单频限域实验方法。
- 单次实验完成多自由度宽频谱激励测试。
- 适合水下机器人控制与稳定性研究者参考。
本文提出一种协同研究方案，旨在开发新型六自由度（6-DOF）运动平台，用于实测水面及水下车辆关键的流体动力学力，以支持其控制与稳定性设计。传统实验方法如平面运动机制（PMM）受限于可同时驱动的自由度数量，且仅支持单频测试，难以获取频率相关的附加质量或阻尼矩阵。所提出的六自由度平台（称为六足机构，hexapod）突破了上述限制，具备更高机动性，可在一次实验中实现多自由度、宽频带激励，显著提升测试效率与数据完整性。
原文摘要 · Abstract (English)
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and subsurface vehicles. Traditional experimental methods, such as the Planar Motion Mechanism (PMM), are limited by the number of simultaneously articulated DOFs and are limited to single-frequency testing, making such systems impractical for resolving frequency-dependent added mass or damping matrices. The 6 DOF platform, termed a hexapod, overcomes these limitations by offering enhanced maneuverability and the ability to test broad-banded frequency spectra in multiple degrees of freedom in a single experiment.
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