摘要
针对50公斤级便携式自主水下机器人(AUV)的开发和研究,介绍了一种采用多种通信方式的分布式便携式AUV控制系统.着重推导和阐述了控制系统中X形舵与十字形舵之间的等效关系,并对水平面与垂直面的运动控制方法进行了说明.通过大量湖上和海上试验验证了所述方案和方法的合理性,并得到了满意的实际航行结果.
In order to study and develop a 50 kg portable AUV（autonomous underwater vehicle）, a distributed control system with multiple communication modes is presented. The equivalent relationship between X-shaped sternplane and cross sternplane in the control system is derived and explained, and the horizontal and vertical motion control methods are described. Finally, the rationality of the presented control system solution and control method is verified by a large number of lake and sea trials, and a good navigation performance of the portable AUV is shown.
出处
《机器人》
EI
CSCD
北大核心
2016年第1期91-97,共7页
Robot
基金
国家863计划(2011AA09A105)
关键词
便携式AUV
控制系统
X形舵
运动控制
portable AUV（autonomous underwater vehicle）
control system
X sternplane
motion control
