摘要
考虑水下机器人的实体结构和搭载的执行器的情况,建立水下机器人的地面坐标系和船体坐标系,并完成了地面坐标系向船体坐标系的转换,并分别给出水下机器人水平面的运动学方程和动力学方程,为控制器的设计和闭环系统稳定性分析提供了研究基础。
Considering the physical structure of underwater vehicle and the situation of the actuator equipped with it, we established the ground coordinate system and hull coordinate system of underwater vehicle, completed the transformation from ground coordinate system to hull coordinate system, and respectively gave the kinematical equation and dynamical equation of the horizontal plane of underwater vehicle, aiming to provide a basis for controller design and the stability analysis of closed-loop system.
出处
《科教文汇》
2017年第12期36-38,共3页
Journal of Science and Education
关键词
水下机器人
控制系统
控制器设计
稳定性分析
underwater vehicle
control system
controller design
stability analysis
