机构地区: 河海大学机电工程学院
出 处: 《机电一体化》 2008年第3期58-60,63,共4页
摘 要: 运动控制是水下机器人自治化的核心,准确的动力学分析为分析控制系统的物理学特性提供了理论依据。以葛特勒为原始母型方程,深入分析了水下机器人在水下运动中的受力情况,建立了水下机器人水下运动的一般方程,为自治水下机器人控制系统的设计和仿真提供了调试环境。 Movement control is the core of Underwater Vehicle autonomy, accurate kinetics analysis provides the theoretical basis for anglicizing physical characteristics of the control system. This thesis based on M.Gertler equation, deeply analyzed the forces for the underwater robot during underwater movement, established the general equation for the Underwater Vehicle's movement under the water, and provided a debugging environment for the design and simulation of Autonomous Underwater Vehicle control system.