水下机器人运动控制和仿真的数学模型

A Mathematical Model for Motion Control and Simulation of ROVs

水下机器人是一个复杂的非线性对象，建立水下机器人普遍、规范、实用数学模型的问题备受关注本文给出了这样一种模型其特点是：（１）取类似线性系统状态方程的形式；（２）只涉及矩阵乘积运算；（３）为表达粘性水动力提出一合理简化方案；（４）把所有可能用于操作控制的因素都表达为控制量，便于进行多种操作控制；

The ROV is a complex nonlinear object.It's very difficult to give a ROV's normal,generalized and practical model.Such a model is put forward in this paper.Its principal fatures are:(1)It's similar to state equation of linear system formally.(2)It's only concerning matrix operations.(3)A rationally simplified scheme to express the viscous hydrodynamic forces is given.(4)All factors,which can be used to ROV's operating and controlling,are expressed as controllable variables.So the resulting model can be used for various operating and controlling.(5)The ocean current is taken into account .The resulting model may be convenient for theoretical research and can be used for control and simulation directly.