Open document
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General information |
| Author |
Lin, Xichuan; Guo, Shuxiang; Yue, Chunfeng; Du, Juan |
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InTech Open Access Publisher, 2013
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| Abstract |
This paper presents an improved modelling
method for a water jet‐based multi‐propeller propulsion
system. In our previous work, the modelling experiments
were only carried out in 2D planes, whose experimental
results had poor agreement when we wanted to control
the propulsive forces in 3D space directly. This research
extends the 2D modelling described in the authors’
previous work into 3D space. By doing this, the model
could include 3D space information, which is more useful
than that of 2D space. The effective propulsive forces and
moments in 3D space can be obtained directly by
synthesizing the propulsive vectors of propellers. For this
purpose, a novel experimental mechanism was developed
to achieve the proposed 3D modelling. This mechanism
was designed with the mass distribution centred for the
robot. By installing a six‐axis load‐cell sensor at the
equivalent mass centre, we obtained the direct propulsive
effect of the system for the robot. Also, in this paper, the
orientation surface and propulsive surfaces are developed
to provide the 3D information of the propulsive system.
Experiments for each propeller were first carried out to
establish the models. Then, further experiments were
carried out with all of the propellers working together to
validate the models. Finally, we compared the various
experimental results with the simulation data. The utility
of this modelling method is discussed at length. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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