摘要
随着船舶行业的发展,微小型水下机器人技术的发展也越来越迅速,它与其他海洋结构物相比具有体积更小、阻力更低、操纵性能更好的特点,而要保证良好操纵性的前提是微小型水下机器人的运动控制技术。结合舵桨翼微小型水下机器人的特点,通过研究其运动控制与推力分配情况,完善了微小型水下机器人的水动力模型,为微小型水下机器人的性能测试和控制器的设计提供了一个有效的仿真平台。
With the development of shipbuilding industry, the development of micro underwater robot technology becomes more and more rapid. Compared with other marine structures, it has the characteristics of smaller volume, lower resistance and better maneuverability. The premise of good maneuverability is the motion control technology of micro underwater robot. Combined with the characteristics of the rudder, propeller and wing micro underwater robot, through the research of its motion control and thrust allocation, the researcher improves the hydrodynamic model of the micro underwater robot, and provides an effective simulation platform for the its performance testing and controller design.
出处
《船舶职业教育》
2016年第6期54-58,共5页
Shipbuilding Vocational Education
