用拉格朗日方法建模水下机器人内部移动质量的运动，提升控制精度。
Combining Moving Mass Actuators and Manoeuvring Models for Underwater Vehicles: A Lagrangian Approach
- 基于牛顿-欧拉法构建移动质量系统的动力学模型
- 将移动质量影响纳入本体坐标系的运动方程中
- 相比传统哈密顿方法，仿真验证更准确
本文提出一种基于牛顿-欧拉法的水下机器人内部移动质量作动器的动力学建模方法。将移动质量动态作为原始操纵模型（Fossen, 1991）的扩展，以机体坐标系描述其影响，并作为额外运动学方程的状态变量及刚体动力学耦合部分。科里奥利-离心力项由基尔霍夫方程导出，静水力则基于基本原理推导。所提牛顿-欧拉模型通过仿真验证，并与传统的哈密顿内部移动质量作动器模型进行对比，结果表明其在建模精度和稳定性方面表现更优。
原文摘要 · Abstract (English)
In this paper, we present a Newton-Euler formulation of the equations of motion for underwater vehicles with an interntal moving mass actuator. Furthermore, the moving mass dynamics are expressed as an extension to the manoeuvring model for underwater vehicles, originally introduced by Fossen (1991). The influence of the moving mass is described in body-frame and included as states in both an additional kinematic equation and as part of the coupled rigid-body kinetics of the underwater vehicle. The Coriolis-centripetal effects are derived from Kirchhoff's equations and the hydrostatics are derived using first principals. The proposed Newton-Euler model is validated through simulation and compared with the traditional Hamiltonian internal moving mass actuator formulation.
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